{"id":"https://openalex.org/W4413925510","doi":"https://doi.org/10.1109/icra55743.2025.11127743","title":"RMP-YOLO: A Robust Motion Predictor for Partially Observable Scenarios Even if You Only Look Once","display_name":"RMP-YOLO: A Robust Motion Predictor for Partially Observable Scenarios Even if You Only Look Once","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925510","doi":"https://doi.org/10.1109/icra55743.2025.11127743"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101243493","display_name":"Jiawei Sun","orcid":"https://orcid.org/0000-0003-1272-1879"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Jiawei Sun","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,119077"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,119077","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462950","display_name":"Jiahui Li","orcid":"https://orcid.org/0000-0001-5067-6517"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jiahui Li","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,119077"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,119077","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104222880","display_name":"Tingchen Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tingchen Liu","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,119077"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,119077","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068340932","display_name":"Chengran Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chengran Yuan","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,119077"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,119077","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101245168","display_name":"Shuo Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuo Sun","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,119077"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,119077","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085320415","display_name":"Zefan Huang","orcid":"https://orcid.org/0000-0003-3250-3713"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zefan Huang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,119077"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,119077","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065892316","display_name":"Anthony Wong","orcid":"https://orcid.org/0000-0002-9288-061X"},"institutions":[{"id":"https://openalex.org/I4210146998","display_name":"MOH Holdings","ror":"https://ror.org/052jm1735","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I4210146998"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Anthony Wong","raw_affiliation_strings":["Moovita Pte Ltd,Singapore,599489"],"affiliations":[{"raw_affiliation_string":"Moovita Pte Ltd,Singapore,599489","institution_ids":["https://openalex.org/I4210146998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045199303","display_name":"Keng Peng Tee","orcid":"https://orcid.org/0000-0001-7162-9066"},"institutions":[{"id":"https://openalex.org/I4210146998","display_name":"MOH Holdings","ror":"https://ror.org/052jm1735","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I4210146998"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Keng Peng Tee","raw_affiliation_strings":["Moovita Pte Ltd,Singapore,599489"],"affiliations":[{"raw_affiliation_string":"Moovita Pte Ltd,Singapore,599489","institution_ids":["https://openalex.org/I4210146998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,119077"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,119077","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5101243493"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":3.9729,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94329944,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1024","last_page":"1031"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9821000099182129,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11439","display_name":"Video Analysis and Summarization","score":0.9624999761581421,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.7416836619377136},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.513927698135376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5124390721321106},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3212420344352722},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18911975622177124}],"concepts":[{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.7416836619377136},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.513927698135376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5124390721321106},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3212420344352722},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18911975622177124},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320765","display_name":"Singapore-MIT Alliance for Research and Technology Centre","ror":"https://ror.org/05yb3w112"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2955189650","https://openalex.org/W3156216502","https://openalex.org/W3214950490","https://openalex.org/W4221156702","https://openalex.org/W4312731878","https://openalex.org/W4313178806","https://openalex.org/W4383109107","https://openalex.org/W4385221361","https://openalex.org/W4386076672","https://openalex.org/W4386432277","https://openalex.org/W4390788068","https://openalex.org/W4390873034","https://openalex.org/W4391770690","https://openalex.org/W4393149085","https://openalex.org/W4401414766","https://openalex.org/W4405785518"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1994680671","https://openalex.org/W2000283393","https://openalex.org/W2002320543","https://openalex.org/W2040927204","https://openalex.org/W2061947244","https://openalex.org/W2150232912","https://openalex.org/W2054940838"],"abstract_inverted_index":{"We":[0],"introduce":[1],"RMP-YOLO,":[2,177],"a":[3,32,43,64],"unified":[4],"framework":[5,115],"designed":[6],"to":[7,69,118],"provide":[8],"robust":[9,128],"motion":[10,38],"predictions":[11],"even":[12],"with":[13,98,143],"incomplete":[14,88],"input":[15],"data.":[16],"Our":[17,61,114,184],"key":[18],"insight":[19],"stems":[20],"from":[21],"the":[22,48,58,71,110,153,169],"observation":[23,130],"that":[24,46],"complete":[25],"and":[26,73,77,96,126,158],"reliable":[27],"historical":[28,52,89,104],"trajectory":[29],"data":[30,105,122],"plays":[31],"pivotal":[33],"role":[34],"in":[35,160],"ensuring":[36,147],"accurate":[37],"prediction.":[39],"Therefore,":[40],"we":[41],"propose":[42],"new":[44],"paradigm":[45],"prioritizes":[47],"reconstruction":[49],"of":[50,75,123,155],"intact":[51],"trajectories":[53,90],"before":[54],"feeding":[55],"them":[56],"into":[57,109],"prediction":[59,112,135,145],"modules.":[60,113],"approach":[62],"introduces":[63],"novel":[65],"scene":[66],"tokenization":[67],"module":[68,85,140],"enhance":[70],"extraction":[72],"fusion":[74],"spatial":[76],"temporal":[78],"features.":[79],"Following":[80],"this,":[81],"our":[82,138,156,175],"proposed":[83],"recovery":[84,139],"reconstructs":[86],"agents'":[87],"by":[91],"leveraging":[92],"local":[93],"map":[94],"topology":[95],"interactions":[97],"nearby":[99],"agents.":[100],"The":[101],"reconstructed,":[102],"clean":[103],"is":[106,116,141,186],"then":[107],"integrated":[108],"downstream":[111],"able":[117],"effectively":[119],"handle":[120],"missing":[121],"varying":[124],"lengths":[125],"remains":[127],"against":[129],"noise":[131],"while":[132],"maintaining":[133],"high":[134],"accuracy.":[136],"Furthermore,":[137],"compatible":[142],"existing":[144],"models,":[146],"seamless":[148],"integration.":[149],"Extensive":[150],"experiments":[151],"validate":[152],"effectiveness":[154],"approach,":[157],"deployment":[159],"real-world":[161],"autonomous":[162],"vehicles":[163],"confirms":[164],"its":[165],"practical":[166],"utility.":[167],"In":[168],"2024":[170],"Waymo":[171],"Motion":[172],"Prediction":[173],"Competition,":[174],"method,":[176],"achieves":[178],"state-of-the-art":[179],"performance,":[180],"securing":[181],"third":[182],"place.":[183],"code":[185],"open-source":[187],"at":[188],"https://github.com/ggosjw/RMP-YOLO.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-10-10T00:00:00"}
