{"id":"https://openalex.org/W3128486562","doi":"https://doi.org/10.1109/lra.2021.3057326","title":"Tra2Tra: Trajectory-to-Trajectory Prediction With a Global Social Spatial-Temporal Attentive Neural Network","display_name":"Tra2Tra: Trajectory-to-Trajectory Prediction With a Global Social Spatial-Temporal Attentive Neural Network","publication_year":2021,"publication_date":"2021-02-05","ids":{"openalex":"https://openalex.org/W3128486562","doi":"https://doi.org/10.1109/lra.2021.3057326","mag":"3128486562"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3057326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3057326","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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":null,"display_name":"Yi Xu","orcid":"https://orcid.org/0000-0001-9331-5789"},"institutions":[{"id":"https://openalex.org/I4210087373","display_name":"Meizu (China)","ror":"https://ror.org/0067g4302","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210087373"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yi Xu","raw_affiliation_strings":["Meituan, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9331-5789","affiliations":[{"raw_affiliation_string":"Meituan, Beijing, China","institution_ids":["https://openalex.org/I4210087373"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018548685","display_name":"Dongchun Ren","orcid":"https://orcid.org/0000-0002-0909-5419"},"institutions":[{"id":"https://openalex.org/I4210087373","display_name":"Meizu (China)","ror":"https://ror.org/0067g4302","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210087373"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongchun Ren","raw_affiliation_strings":["Meituan, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meituan, Beijing, China","institution_ids":["https://openalex.org/I4210087373"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028976297","display_name":"Mingxia Li","orcid":"https://orcid.org/0000-0001-7329-321X"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingxia Li","raw_affiliation_strings":["Xi\u2019an Jiaotong University, Xi\u2019an, China","Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074448505","display_name":"Yuehai Chen","orcid":"https://orcid.org/0000-0002-4778-8718"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuehai Chen","raw_affiliation_strings":["Xi\u2019an Jiaotong University, Xi\u2019an, China","Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007888592","display_name":"Mingyu Fan","orcid":"https://orcid.org/0000-0002-0492-4708"},"institutions":[{"id":"https://openalex.org/I146620803","display_name":"Wenzhou University","ror":"https://ror.org/020hxh324","country_code":"CN","type":"education","lineage":["https://openalex.org/I146620803"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyu Fan","raw_affiliation_strings":["Wenzhou University, Wenzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0492-4708","affiliations":[{"raw_affiliation_string":"Wenzhou University, Wenzhou, China","institution_ids":["https://openalex.org/I146620803"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059230150","display_name":"Huaxia Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087373","display_name":"Meizu (China)","ror":"https://ror.org/0067g4302","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210087373"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaxia Xia","raw_affiliation_strings":["Meituan, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meituan, Beijing, China","institution_ids":["https://openalex.org/I4210087373"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210087373"],"apc_list":null,"apc_paid":null,"fwci":2.4184,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.88250319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"1574","last_page":"1581"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9988999962806702,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9977999925613403,"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":0.7055710554122925},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6896920800209045},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5738971829414368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5504374504089355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5089750289916992},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.46201056241989136},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44220834970474243},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4121052026748657},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32909876108169556}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7055710554122925},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6896920800209045},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5738971829414368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5504374504089355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5089750289916992},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.46201056241989136},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44220834970474243},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4121052026748657},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32909876108169556},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3057326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3057326","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5799999833106995,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1767946556","display_name":null,"funder_award_id":"Z201100006820046","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G4404482093","display_name":null,"funder_award_id":"61772373","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"},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1924770834","https://openalex.org/W1970206276","https://openalex.org/W2056120433","https://openalex.org/W2064675550","https://openalex.org/W2082585576","https://openalex.org/W2088604406","https://openalex.org/W2099471712","https://openalex.org/W2116408775","https://openalex.org/W2116547086","https://openalex.org/W2167052694","https://openalex.org/W2170345640","https://openalex.org/W2260280755","https://openalex.org/W2424778531","https://openalex.org/W2532516272","https://openalex.org/W2737816061","https://openalex.org/W2761568138","https://openalex.org/W2766836212","https://openalex.org/W2787337315","https://openalex.org/W2892753736","https://openalex.org/W2905082218","https://openalex.org/W2907492528","https://openalex.org/W2913368959","https://openalex.org/W2941413327","https://openalex.org/W2951870359","https://openalex.org/W2953311841","https://openalex.org/W2962687116","https://openalex.org/W2962767366","https://openalex.org/W2963001155","https://openalex.org/W2963076818","https://openalex.org/W2963165299","https://openalex.org/W2963353290","https://openalex.org/W2963464736","https://openalex.org/W2963858333","https://openalex.org/W2964321324","https://openalex.org/W2970219816","https://openalex.org/W2985871763","https://openalex.org/W2991653934","https://openalex.org/W2998052539","https://openalex.org/W3003235888","https://openalex.org/W3003906095","https://openalex.org/W3004201988","https://openalex.org/W3012494314","https://openalex.org/W3034722190","https://openalex.org/W3035054225","https://openalex.org/W3035096461","https://openalex.org/W3035285524","https://openalex.org/W3041790910","https://openalex.org/W3090276432","https://openalex.org/W3095208105","https://openalex.org/W3101938227","https://openalex.org/W3103178666","https://openalex.org/W3160050461","https://openalex.org/W4210257598","https://openalex.org/W4285723986","https://openalex.org/W4288287716","https://openalex.org/W4294558607","https://openalex.org/W4320013936","https://openalex.org/W6640212811","https://openalex.org/W6738964360","https://openalex.org/W6747795875","https://openalex.org/W6748320467","https://openalex.org/W6755133785","https://openalex.org/W6765361892","https://openalex.org/W6774458761","https://openalex.org/W6784275320"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4390516098","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"Accurate":[0],"trajectory":[1,191],"prediction":[2,80],"plays":[3],"a":[4,15,31,70,143],"key":[5],"role":[6],"in":[7,25],"robot":[8],"navigation.":[9],"It":[10],"is":[11,30],"beneficial":[12],"for":[13,20,78,111,133],"planning":[14],"collision-free":[16],"and":[17,39,95,98,126,153,183,196],"appropriate":[18],"path":[19],"the":[21,62,106,113,151,154,172],"autonomous":[22],"robots,":[23],"especially":[24],"crowded":[26],"scenes.":[27],"However,":[28],"it":[29],"particularly":[32],"challenging":[33],"task":[34],"because":[35],"there":[36],"are":[37],"complex":[38,190],"subtle":[40],"interactions":[41,56,91],"among":[42],"pedestrians.":[43],"There":[44],"have":[45],"been":[46],"many":[47],"studies":[48],"focusing":[49],"on":[50,177,187],"how":[51],"to":[52,137],"model":[53,166],"this":[54,66,83,121],"spatial":[55,90],"but":[57,185],"most":[58],"of":[59,89,157],"them":[60],"neglected":[61],"temporal":[63,103],"characteristic.":[64],"Towards":[65],"end,":[67],"we":[68,85,141],"propose":[69],"novel":[71],"Global":[72],"Social":[73],"Spatial-Temporal":[74],"Attentive":[75],"Neural":[76],"Network":[77],"trajectory-to-trajectory":[79],"(Tra2Tra).":[81],"In":[82,135],"model,":[84],"first":[86],"extract":[87,101],"features":[88,128],"with":[92],"decentralization":[93],"operation":[94],"attention":[96],"mechanism,":[97],"then":[99],"iteratively":[100],"its":[102],"dependency":[104],"through":[105],"Long":[107],"Short-Term":[108],"Memory":[109],"network":[110],"obtaining":[112],"global":[114,122],"spatial-temporal":[115,123],"feature":[116,124],"representation.":[117],"We":[118],"further":[119],"aggregate":[120],"representation":[125],"velocity":[127],"into":[129],"our":[130,158,164],"encoder-decoder":[131],"module":[132],"prediction.":[134],"order":[136],"make":[138],"multi-modality":[139],"predictions,":[140],"introduce":[142],"random":[144],"noise":[145],"perturbation":[146],"while":[147],"decoding,":[148],"which":[149],"enhances":[150],"robustness":[152],"generalization":[155],"ability":[156],"model.":[159],"Experimental":[160],"results":[161],"demonstrate":[162],"that":[163],"Tra2Tra":[165],"can":[167],"achieve":[168],"better":[169],"performance":[170],"than":[171],"state-of-the-art":[173],"methods":[174],"not":[175],"only":[176],"two":[178],"pedestrian-walking":[179],"datasets,":[180,192],"i.e.":[181,193],"ETH":[182],"UCY,":[184],"also":[186],"three":[188],"other":[189],"Collisions,":[194],"NGsim":[195],"Charges.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}