{"id":"https://openalex.org/W4401415960","doi":"https://doi.org/10.1109/icra57147.2024.10610002","title":"ESP: Extro-Spective Prediction for Long-term Behavior Reasoning in Emergency Scenarios","display_name":"ESP: Extro-Spective Prediction for Long-term Behavior Reasoning in Emergency Scenarios","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415960","doi":"https://doi.org/10.1109/icra57147.2024.10610002"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5113204371","display_name":"Dingrui Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Dingrui Wang","raw_affiliation_strings":["Inceptio Technology,Shanghai,China,200082"],"affiliations":[{"raw_affiliation_string":"Inceptio Technology,Shanghai,China,200082","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104298360","display_name":"Zheyuan Lai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheyuan Lai","raw_affiliation_strings":["Inceptio Technology,Shanghai,China,200082"],"affiliations":[{"raw_affiliation_string":"Inceptio Technology,Shanghai,China,200082","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083155730","display_name":"Yuda Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuda Li","raw_affiliation_strings":["Inceptio Technology,Shanghai,China,200082"],"affiliations":[{"raw_affiliation_string":"Inceptio Technology,Shanghai,China,200082","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021066503","display_name":"Yi Wu","orcid":"https://orcid.org/0000-0002-2322-6825"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Wu","raw_affiliation_strings":["Nanjing University of Posts and Telecommunications,Nanjing,China,210023"],"affiliations":[{"raw_affiliation_string":"Nanjing University of Posts and Telecommunications,Nanjing,China,210023","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102015139","display_name":"Yuexin Ma","orcid":"https://orcid.org/0000-0001-7237-988X"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuexin Ma","raw_affiliation_strings":["ShanghaiTech University,Shanghai,China,200120"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,Shanghai,China,200120","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063677428","display_name":"Johannes Betz","orcid":"https://orcid.org/0000-0001-9197-2849"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Betz","raw_affiliation_strings":["Technical University of Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076524203","display_name":"Ruigang Yang","orcid":"https://orcid.org/0000-0001-5296-6307"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruigang Yang","raw_affiliation_strings":["Inceptio Technology,Shanghai,China,200082"],"affiliations":[{"raw_affiliation_string":"Inceptio Technology,Shanghai,China,200082","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100318161","display_name":"Wei Li","orcid":"https://orcid.org/0000-0002-3135-0447"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Li","raw_affiliation_strings":["Inceptio Technology,Shanghai,China,200082"],"affiliations":[{"raw_affiliation_string":"Inceptio Technology,Shanghai,China,200082","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5113204371"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0715,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80856817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"13030","last_page":"13037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12205","display_name":"Time Series Analysis and Forecasting","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/term","display_name":"Term (time)","score":0.6927040815353394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6479406952857971},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3455308973789215}],"concepts":[{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.6927040815353394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6479406952857971},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3455308973789215},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6299999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1605929701","https://openalex.org/W1913356549","https://openalex.org/W1970206276","https://openalex.org/W2061773916","https://openalex.org/W2064675550","https://openalex.org/W2149822156","https://openalex.org/W2150066425","https://openalex.org/W2519586580","https://openalex.org/W2532516272","https://openalex.org/W2761568138","https://openalex.org/W2789621390","https://openalex.org/W2892614179","https://openalex.org/W2896642734","https://openalex.org/W2912798476","https://openalex.org/W2946231253","https://openalex.org/W2955189650","https://openalex.org/W2963787065","https://openalex.org/W2963914175","https://openalex.org/W2963945905","https://openalex.org/W2970089253","https://openalex.org/W2975767248","https://openalex.org/W2980087597","https://openalex.org/W2985871763","https://openalex.org/W2989851631","https://openalex.org/W2990745571","https://openalex.org/W3034722190","https://openalex.org/W3035574168","https://openalex.org/W3156216502","https://openalex.org/W3201859961","https://openalex.org/W3210326465","https://openalex.org/W4225339769","https://openalex.org/W4226278401","https://openalex.org/W4226374401","https://openalex.org/W4283026156","https://openalex.org/W4286285572","https://openalex.org/W4297944254","https://openalex.org/W4312804128","https://openalex.org/W4362707064","https://openalex.org/W4383109107","https://openalex.org/W4394862732","https://openalex.org/W6768870957","https://openalex.org/W6782468546","https://openalex.org/W6810738896","https://openalex.org/W6838461927","https://openalex.org/W6843475265","https://openalex.org/W6851960618"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Emergent-scene":[0],"safety":[1,18],"is":[2,14,82,109],"the":[3,34,51,55,62,66,73,139],"key":[4],"milestone":[5],"for":[6,61,80],"fully":[7],"autonomous":[8],"driving,":[9],"and":[10,28,92,151],"reliable":[11,38],"on-time":[12],"prediction":[13,53,86,118],"essential":[15],"to":[16,30,84,111],"maintain":[17],"in":[19,59,121,135],"emergency":[20,24,63,123],"scenarios.":[21],"However,":[22],"these":[23],"scenarios":[25],"are":[26,154],"long-tailed":[27],"hard":[29],"collect,":[31],"which":[32,48],"restricts":[33],"system":[35],"from":[36],"getting":[37],"predictions.":[39],"In":[40],"this":[41],"paper,":[42],"we":[43],"build":[44],"a":[45,76,89,101,113],"new":[46,102],"dataset,":[47,75],"aims":[49],"at":[50,156],"longterm":[52],"with":[54],"inconspicuous":[56],"state":[57],"variation":[58],"history":[60],"event,":[64],"named":[65,104],"Extro-Spective":[67],"Prediction":[68],"(ESP)":[69],"problem.":[70],"Based":[71],"on":[72],"proposed":[74,110],"flexible":[77],"feature":[78],"encoder":[79],"ESP":[81,130],"introduced":[83],"various":[85],"methods":[87],"as":[88,128],"seamless":[90],"plug-in,":[91],"its":[93,98],"consistent":[94],"performance":[95],"improvement":[96],"underscores":[97],"efficacy.":[99],"Furthermore,":[100],"metric":[103],"clamped":[105],"temporal":[106],"error":[107],"(CTE)":[108],"give":[112],"more":[114],"comprehensive":[115],"evaluation":[116],"of":[117,125,141],"performance,":[119],"especially":[120],"time-sensitive":[122],"events":[124],"subseconds.":[126],"Interestingly,":[127],"our":[129],"features":[131],"can":[132],"be":[133],"described":[134],"human-readable":[136],"language":[137],"naturally,":[138],"application":[140],"integrating":[142],"into":[143],"ChatGPT":[144],"also":[145],"shows":[146],"huge":[147],"potential.":[148],"The":[149],"ESP-dataset":[150],"all":[152],"benchmarks":[153],"released":[155],"https://dingrui-wang.github.io/ESP-Dataset/.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}