{"id":"https://openalex.org/W4398151428","doi":"https://doi.org/10.1109/tits.2024.3398008","title":"Dynamic Voxels Based on Ego-Conditioned Prediction: An Integrated Spatio-Temporal Framework for Motion Planning","display_name":"Dynamic Voxels Based on Ego-Conditioned Prediction: An Integrated Spatio-Temporal Framework for Motion Planning","publication_year":2024,"publication_date":"2024-05-20","ids":{"openalex":"https://openalex.org/W4398151428","doi":"https://doi.org/10.1109/tits.2024.3398008"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3398008","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tits.2024.3398008","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/208630","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038062521","display_name":"Ting Zhang","orcid":"https://orcid.org/0000-0002-7014-4670"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Zhang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7014-4670","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-5520-7127","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029808668","display_name":"Wenjie Song","orcid":"https://orcid.org/0000-0002-4121-908X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Song","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4121-908X","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3964-2433","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068504559","display_name":"Alexandre Alahi","orcid":"https://orcid.org/0000-0002-5004-1498"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexandre Alahi","raw_affiliation_strings":["VITA Laboratory, EPFL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-5004-1498","affiliations":[{"raw_affiliation_string":"VITA Laboratory, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3814,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52498965,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"25","issue":"10","first_page":"14973","last_page":"14985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9876999855041504,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9876999855041504,"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/voxel","display_name":"Voxel","score":0.7182521820068359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5525140166282654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.531882107257843},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4987447261810303},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3738682270050049}],"concepts":[{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.7182521820068359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5525140166282654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.531882107257843},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4987447261810303},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3738682270050049}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2024.3398008","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tits.2024.3398008","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:311624","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/208630","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:311624","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/208630","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G1765388644","display_name":null,"funder_award_id":"62373052","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3511544556","display_name":null,"funder_award_id":"62233002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G621792312","display_name":null,"funder_award_id":"CJS T2022203","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2048980958","https://openalex.org/W2736601468","https://openalex.org/W2782474430","https://openalex.org/W2904246096","https://openalex.org/W2962963952","https://openalex.org/W2963215357","https://openalex.org/W2982745079","https://openalex.org/W2989964169","https://openalex.org/W3093963693","https://openalex.org/W3099089609","https://openalex.org/W3107209377","https://openalex.org/W3158659541","https://openalex.org/W3181117845","https://openalex.org/W3191994656","https://openalex.org/W3197234345","https://openalex.org/W4287118690","https://openalex.org/W4312742187","https://openalex.org/W4312769831","https://openalex.org/W4313058878","https://openalex.org/W4313069644","https://openalex.org/W4313189526","https://openalex.org/W4319997987","https://openalex.org/W4365807717","https://openalex.org/W4378648110","https://openalex.org/W4380434690","https://openalex.org/W4382118864","https://openalex.org/W4382936452","https://openalex.org/W4383109100","https://openalex.org/W4386076044","https://openalex.org/W4386076400","https://openalex.org/W4390871698","https://openalex.org/W4391793348","https://openalex.org/W4399451829"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Prediction":[0],"is":[1,107],"a":[2,51,68,112,145,155],"vital":[3],"component":[4],"of":[5,18,34,41,182,213,225],"motion":[6,113],"planning":[7,45,61,75,140],"for":[8,86,162],"autonomous":[9],"vehicles":[10,106],"(AVs).":[11],"By":[12],"reasoning":[13],"about":[14],"the":[15,22,35,39,42,56,60,72,90,96,98,104,120,124,129,137,173,179,183,207,214,218,223,226],"possible":[16],"behavior":[17],"other":[19],"target":[20,105],"agents,":[21],"ego":[23,99],"vehicle":[24],"(EV)":[25],"can":[26],"navigate":[27],"safely,":[28],"efficiently,":[29],"and":[30,44,74,128,139,147,165,196,211,217],"politely.":[31],"However,":[32],"most":[33],"existing":[36],"work":[37],"overlooks":[38],"interdependencies":[40],"prediction":[43,57,73,138,167,184],"module,":[46],"only":[47],"connecting":[48],"them":[49],"in":[50,59,119,133,144,190],"sequential":[52],"pipeline":[53],"or":[54],"underexploring":[55],"results":[58,168],"module.":[62,185],"In":[63],"this":[64],"work,":[65],"we":[66,81,110],"propose":[67,82],"framework":[69],"that":[70],"integrates":[71],"module":[76],"with":[77,89,199],"three":[78],"highlights.":[79],"First,":[80],"an":[83],"ego-conditioned":[84],"model":[85],"causal":[87],"prediction,":[88,164],"introduced":[91],"edge-featured":[92],"graph":[93],"transformer":[94],"model,":[95,216],"impact":[97],"future":[100],"maneuver":[101,153],"poses":[102],"to":[103,171],"demonstrated.":[108],"Second,":[109],"develop":[111],"planner":[114],"based":[115],"on":[116],"\u2018dynamic":[117],"voxels\u2019":[118],"spatio-temporal":[121],"domain,":[122],"enabling":[123],"time-to-collision":[125],"criterion":[126],"evaluation":[127],"optimal":[130],"trajectory":[131,158],"generation":[132],"continuous":[134],"space.":[135],"Third,":[136],"modules":[141],"are":[142,160,169,188],"coupled":[143],"closed-loop":[146],"efficient":[148],"form.":[149],"Specifically,":[150],"taking":[151],"each":[152],"as":[154,175],"cluster,":[156],"representative":[157],"primitives":[159,174],"generated":[161],"conditional":[163],"conversely,":[166],"used":[170],"score":[172],"guidance,":[176],"which":[177],"alleviates":[178],"duplicated":[180],"callback":[181],"The":[186,203],"simulations":[187],"conducted":[189],"overtaking,":[191],"merging,":[192],"unprotected":[193],"left":[194],"turns,":[195],"also":[197],"scenarios":[198],"imperfect":[200],"social":[201],"behaviors.":[202],"comparison":[204],"studies":[205],"demonstrate":[206],"better":[208],"safety":[209],"assurance":[210],"efficiency":[212],"proposed":[215],"ablation":[219],"experiments":[220],"further":[221],"reveal":[222],"effectiveness":[224],"new":[227],"ideas.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}