{"id":"https://openalex.org/W3088862562","doi":"https://doi.org/10.1109/iros51168.2021.9636143","title":"Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph","display_name":"Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3088862562","doi":"https://doi.org/10.1109/iros51168.2021.9636143","mag":"3088862562"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636143","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5100388877","display_name":"Sumit Kumar","orcid":"https://orcid.org/0000-0002-9494-1244"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sumit Kumar","raw_affiliation_strings":["Aurora Innovation, USA"],"affiliations":[{"raw_affiliation_string":"Aurora Innovation, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102216183","display_name":"Yiming Gu","orcid":"https://orcid.org/0009-0009-4077-096X"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiming Gu","raw_affiliation_strings":["Google, USA"],"affiliations":[{"raw_affiliation_string":"Google, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050493653","display_name":"Jerrick Hoang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jerrick Hoang","raw_affiliation_strings":["Aurora Innovation, USA"],"affiliations":[{"raw_affiliation_string":"Aurora Innovation, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109258952","display_name":"Galen Clark Haynes","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Galen Clark Haynes","raw_affiliation_strings":["Aurora Innovation, USA"],"affiliations":[{"raw_affiliation_string":"Aurora Innovation, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012471136","display_name":"Micol Marchetti-Bowick","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Micol Marchetti-Bowick","raw_affiliation_strings":["Aurora Innovation, USA"],"affiliations":[{"raw_affiliation_string":"Aurora Innovation, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100388877"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4212,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.97957046,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5530","last_page":"5535"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10524","display_name":"Traffic control and management","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6991685628890991},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5582696199417114},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4610966444015503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4088088572025299},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3772132992744446}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6991685628890991},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5582696199417114},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4610966444015503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4088088572025299},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3772132992744446},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636143","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2098450792","https://openalex.org/W2143071398","https://openalex.org/W2167052694","https://openalex.org/W2424778531","https://openalex.org/W2607296803","https://openalex.org/W2787337315","https://openalex.org/W2798930779","https://openalex.org/W2886617718","https://openalex.org/W2892119467","https://openalex.org/W2894978157","https://openalex.org/W2898900571","https://openalex.org/W2905173465","https://openalex.org/W2911273949","https://openalex.org/W2940129212","https://openalex.org/W2950891689","https://openalex.org/W2962687116","https://openalex.org/W2963001155","https://openalex.org/W2963906196","https://openalex.org/W2981084009","https://openalex.org/W2982745079","https://openalex.org/W2995962413","https://openalex.org/W3010427722","https://openalex.org/W3033207664","https://openalex.org/W3034722190","https://openalex.org/W3035574168","https://openalex.org/W3035671534","https://openalex.org/W3090783937","https://openalex.org/W3114753236","https://openalex.org/W6748320467","https://openalex.org/W6754942691","https://openalex.org/W6755864109","https://openalex.org/W6756871163","https://openalex.org/W6760782946","https://openalex.org/W6761391352","https://openalex.org/W6769347387","https://openalex.org/W6771931584","https://openalex.org/W6784071224"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4323768008"],"abstract_inverted_index":{"Behavior":[0],"prediction":[1,154],"of":[2,9,43,75,112,161],"traffic":[3,28,57,66,85],"actors":[4,26,58,83],"is":[5,116,138],"an":[6],"essential":[7],"component":[8],"any":[10],"real-world":[11],"self-driving":[12],"system.":[13],"Actors’":[14],"long-term":[15],"behaviors":[16],"tend":[17],"to":[18,47],"be":[19],"governed":[20],"by":[21,90],"their":[22],"interactions":[23],"with":[24],"other":[25],"or":[27],"elements":[29,67,86],"(traffic":[30],"lights,":[31],"stop":[32],"signs)":[33],"in":[34,69,103,140],"the":[35,56,62,70,110,113],"scene.":[36,71],"To":[37],"capture":[38],"this":[39],"highly":[40],"complex":[41],"structure":[42],"interactions,":[44],"we":[45],"propose":[46],"use":[48],"a":[49,133,141,158],"hybrid":[50],"graph":[51,91,134],"whose":[52],"nodes":[53],"represent":[54],"both":[55],"as":[59,61,122],"well":[60],"static":[63],"and":[64,80,84,129],"dynamic":[65],"present":[68],"The":[72],"different":[73],"modes":[74],"temporal":[76],"interaction":[77,98,130],"(e.g.,":[78],"stopping":[79],"going)":[81],"among":[82],"are":[87],"explicitly":[88],"modeled":[89],"edges.":[92],"This":[93],"explicit":[94],"reasoning":[95],"about":[96],"discrete":[97],"types":[99,131],"not":[100],"only":[101],"helps":[102],"predicting":[104],"future":[105],"motion,":[106],"but":[107],"also":[108],"enhances":[109],"interpretability":[111],"model,":[114,149],"which":[115,137],"important":[117],"for":[118],"safety-critical":[119],"applications":[120],"such":[121],"autonomous":[123],"driving.":[124],"We":[125,144],"predict":[126],"actors’":[127],"trajectories":[128],"using":[132],"neural":[135],"network,":[136],"trained":[139],"semi-supervised":[142],"manner.":[143],"show":[145],"that":[146],"our":[147],"proposed":[148],"TrafficGraphNet,":[150],"achieves":[151],"state-of-the-art":[152],"trajectory":[153],"accuracy":[155],"while":[156],"maintaining":[157],"high":[159],"level":[160],"interpretability.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-10-10T00:00:00"}