{"id":"https://openalex.org/W4389665969","doi":"https://doi.org/10.1109/iros55552.2023.10341557","title":"Hierarchical Attention Network for Planning-Informed Multi-Agent Trajectory Prediction","display_name":"Hierarchical Attention Network for Planning-Informed Multi-Agent Trajectory Prediction","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665969","doi":"https://doi.org/10.1109/iros55552.2023.10341557"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5083122180","display_name":"Wenyi Xiong","orcid":"https://orcid.org/0000-0002-9060-4558"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyi Xiong","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University,State Key Laboratory of Fluid Power & Mechatronics Systems,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University,State Key Laboratory of Fluid Power & Mechatronics Systems,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326425","display_name":"Jian Chen","orcid":"https://orcid.org/0000-0002-0123-5165"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Chen","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University,State Key Laboratory of Fluid Power & Mechatronics Systems,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University,State Key Laboratory of Fluid Power & Mechatronics Systems,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100679223","display_name":"Xinfang Zhang","orcid":"https://orcid.org/0000-0001-9383-5434"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinfang Zhang","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341186","display_name":"Qi Wang","orcid":"https://orcid.org/0000-0001-6164-6786"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Wang","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101250361","display_name":"Ziheng Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziheng Qi","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5501","last_page":"5506"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9926000237464905,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9869999885559082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.780156135559082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7625596523284912},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5589611530303955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5461190938949585},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4452645182609558},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.43812209367752075},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0847558081150055}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.780156135559082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7625596523284912},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5589611530303955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5461190938949585},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4452645182609558},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.43812209367752075},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0847558081150055},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"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/iros55552.2023.10341557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.5,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G3786244835","display_name":null,"funder_award_id":"61973272","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1924770834","https://openalex.org/W2064675550","https://openalex.org/W2424778531","https://openalex.org/W2896642734","https://openalex.org/W2963001155","https://openalex.org/W2963906196","https://openalex.org/W2989851631","https://openalex.org/W3013376041","https://openalex.org/W3034552520","https://openalex.org/W3107209377","https://openalex.org/W3132321768","https://openalex.org/W3199132857","https://openalex.org/W3200533894","https://openalex.org/W3201859961","https://openalex.org/W4214895168","https://openalex.org/W4226284273","https://openalex.org/W4285307478","https://openalex.org/W6630875275","https://openalex.org/W6731370813"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W3107602296","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"The":[0,136],"accurate":[1],"prediction":[2,62],"of":[3,11,26,35,43,53,82,90,112],"the":[4,9,24,29,33,39,50,54,66,79,87,110,124,144],"neighboring":[5],"vehicles'":[6],"trajectories":[7,25],"affects":[8],"security":[10],"autonomous":[12],"driving":[13,36],"vehicles.":[14,126],"However,":[15],"it":[16],"is":[17,75,103,129],"challenging":[18],"for":[19],"existing":[20],"methods":[21],"to":[22,32,77,105],"anticipating":[23],"vehicles":[27,84],"in":[28],"vicinity":[30],"due":[31],"uncertainty":[34],"behaviors":[37],"and":[38,85,95,115,118],"complex":[40],"interaction":[41,81],"patterns":[42],"traffic":[44],"flows.":[45],"In":[46],"this":[47],"study,":[48],"incorporating":[49],"planning":[51,96],"information":[52,94,122],"ego":[55],"vehicle,":[56],"we":[57],"propose":[58],"a":[59,71,99],"novel":[60],"trajectory":[61],"approach":[63],"based":[64],"on":[65,131],"hierarchical":[67],"attention":[68,73,101],"mechanism.":[69],"Firstly,":[70],"spatio-temporary":[72],"module":[74,102],"presented":[76],"extract":[78],"social":[80],"surrounding":[83],"capture":[86],"temporal":[88],"dependence":[89],"continuous":[91],"frame":[92],"historical":[93,114],"information.":[97],"Then,":[98],"hard-soft":[100],"designed":[104],"perform":[106],"two":[107,132],"tasks:":[108],"weighing":[109],"importance":[111],"both":[113],"future":[116],"information,":[117],"learning":[119],"different":[120],"location":[121],"about":[123],"target":[125],"Our":[127],"method":[128],"evaluated":[130],"national":[133],"highway":[134],"datasets.":[135],"experimental":[137],"results":[138],"show":[139],"that":[140],"our":[141],"algorithm":[142],"achieves":[143],"state-of-the-art":[145],"performance.":[146]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}