{"id":"https://openalex.org/W4312663019","doi":"https://doi.org/10.1109/iros47612.2022.9982100","title":"TIP: Task-Informed Motion Prediction for Intelligent Vehicles","display_name":"TIP: Task-Informed Motion Prediction for Intelligent Vehicles","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312663019","doi":"https://doi.org/10.1109/iros47612.2022.9982100"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982100","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100753382","display_name":"Xin Huang","orcid":"https://orcid.org/0000-0002-9733-6242"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xin Huang","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000400312","display_name":"Guy Rosman","orcid":null},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guy Rosman","raw_affiliation_strings":["Toyota Research Institute,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039991188","display_name":"Ashkan Jasour","orcid":"https://orcid.org/0000-0002-4530-8311"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashkan Jasour","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062836167","display_name":"Stephen G. McGill","orcid":"https://orcid.org/0000-0003-4874-938X"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen G. McGill","raw_affiliation_strings":["Toyota Research Institute,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","orcid":null},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John J. Leonard","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239","Toyota Research Institute, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Toyota Research Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101709620","display_name":"Brian Williams","orcid":"https://orcid.org/0000-0002-1057-3940"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian C. Williams","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,01239","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3416,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.92432083,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"11432","last_page":"11439"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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/T10370","display_name":"Traffic and Road Safety","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.973800003528595,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8061060309410095},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7891811728477478},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.654210090637207},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6093665957450867},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.5243906378746033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5156873464584351},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5075861215591431},{"id":"https://openalex.org/keywords/downstream","display_name":"Downstream (manufacturing)","score":0.4616177976131439},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44418779015541077},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.4380667209625244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07765844464302063}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8061060309410095},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7891811728477478},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.654210090637207},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6093665957450867},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.5243906378746033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5156873464584351},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5075861215591431},{"id":"https://openalex.org/C2776207758","wikidata":"https://www.wikidata.org/wiki/Q5303302","display_name":"Downstream (manufacturing)","level":2,"score":0.4616177976131439},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44418779015541077},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.4380667209625244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07765844464302063},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982100","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W192919555","https://openalex.org/W1522301498","https://openalex.org/W2003835006","https://openalex.org/W2017201461","https://openalex.org/W2030726681","https://openalex.org/W2084835622","https://openalex.org/W2103639171","https://openalex.org/W2158698691","https://openalex.org/W2342840547","https://openalex.org/W2404189583","https://openalex.org/W2424778531","https://openalex.org/W2624449213","https://openalex.org/W2729776805","https://openalex.org/W2905173465","https://openalex.org/W2955189650","https://openalex.org/W2962894046","https://openalex.org/W2963906196","https://openalex.org/W2964147651","https://openalex.org/W2964193755","https://openalex.org/W2967177252","https://openalex.org/W2968008415","https://openalex.org/W2986406093","https://openalex.org/W2997958396","https://openalex.org/W3000520642","https://openalex.org/W3004162282","https://openalex.org/W3010475463","https://openalex.org/W3028769608","https://openalex.org/W3038179219","https://openalex.org/W3038423780","https://openalex.org/W3090166818","https://openalex.org/W3090725241","https://openalex.org/W3094221767","https://openalex.org/W3105637242","https://openalex.org/W3107209377","https://openalex.org/W3108486966","https://openalex.org/W3129986830","https://openalex.org/W3132059329","https://openalex.org/W3146187601","https://openalex.org/W3156216502","https://openalex.org/W3163108166","https://openalex.org/W3172477795","https://openalex.org/W3203006492","https://openalex.org/W3204385750","https://openalex.org/W3204875639","https://openalex.org/W3205301818","https://openalex.org/W3206681956","https://openalex.org/W4287118690","https://openalex.org/W4313162271","https://openalex.org/W4313189526","https://openalex.org/W6631190155","https://openalex.org/W6704559304","https://openalex.org/W6767342764","https://openalex.org/W6769043036","https://openalex.org/W6772580117","https://openalex.org/W6773443883","https://openalex.org/W6781231738","https://openalex.org/W6784790970","https://openalex.org/W6786084573","https://openalex.org/W6801905799","https://openalex.org/W6802177046","https://openalex.org/W6929400582"],"related_works":["https://openalex.org/W1564680838","https://openalex.org/W2060591604","https://openalex.org/W1505626156","https://openalex.org/W2166791242","https://openalex.org/W3012440055","https://openalex.org/W2585162246","https://openalex.org/W1934413089","https://openalex.org/W1992291644","https://openalex.org/W2098419343","https://openalex.org/W2003125260"],"abstract_inverted_index":{"When":[0],"predicting":[1],"trajectories":[2],"of":[3,17,51,91,120,123,144,156],"road":[4],"agents,":[5],"motion":[6,71],"predictors":[7,23,37,128],"often":[8,39],"approximate":[9],"the":[10,22,30,49,77,89,92,112,121,124,154,173,189],"future":[11],"distribution":[12],"by":[13,82,176],"a":[14,69,118,177],"limited":[15],"number":[16],"samples.":[18],"This":[19],"constraint":[20],"requires":[21],"to":[24,104,132,185],"generate":[25],"samples":[26],"that":[27,74,129,165,171],"best":[28],"support":[29],"task":[31,33,62,98,106,114,174],"given":[32],"specifications.":[34],"However,":[35],"existing":[36],"are":[38,130],"optimized":[40],"and":[41,56,88,149,159],"evaluated":[42],"via":[43],"task-agnostic":[44,186],"measures":[45],"without":[46],"accounting":[47],"for":[48],"use":[50,142],"predictions":[52,81,170],"in":[53,60,127,153,180],"downstream":[54,93,134],"tasks,":[55],"thus":[57],"could":[58],"result":[59],"sub-optimal":[61],"performance.":[63,107],"In":[64],"this":[65],"paper,":[66],"we":[67],"propose":[68],"task-informed":[70],"prediction":[72,86],"model":[73],"better":[75],"supports":[76],"tasks":[78,94,148,182],"through":[79],"its":[80],"jointly":[83],"reasoning":[84],"about":[85],"accuracy":[87],"utility":[90,99,122,151],"during":[95],"training.":[96],"The":[97],"function":[100],"is":[101],"commonly":[102],"used":[103],"evaluate":[105],"It":[108],"does":[109],"not":[110],"require":[111],"full":[113],"information,":[115],"but":[116],"rather":[117],"specification":[119],"task,":[125],"resulting":[126],"tailored":[131],"different":[133],"tasks.":[135],"We":[136],"demonstrate":[137],"our":[138,166],"approach":[139],"on":[140,188],"two":[141],"cases":[143],"common":[145],"decision":[146],"making":[147],"their":[150],"functions,":[152],"context":[155],"autonomous":[157],"driving":[158],"parallel":[160],"autonomy.":[161],"Experiment":[162],"results":[163],"show":[164],"predictor":[167],"produces":[168],"accurate":[169],"improve":[172],"performance":[175],"large":[178],"margin":[179],"both":[181],"when":[183],"compared":[184],"baselines":[187],"Waymo":[190],"Open":[191],"Motion":[192],"dataset.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
