{"id":"https://openalex.org/W4402187256","doi":"https://doi.org/10.1109/tvt.2024.3454574","title":"Hierarchical Transformers for Motion Forecasting Based on Inverse Reinforcement Learning","display_name":"Hierarchical Transformers for Motion Forecasting Based on Inverse Reinforcement Learning","publication_year":2024,"publication_date":"2024-09-03","ids":{"openalex":"https://openalex.org/W4402187256","doi":"https://doi.org/10.1109/tvt.2024.3454574"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3454574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3454574","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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":"https://openalex.org/A5016289526","display_name":"Mozhgan Nasr Azadani","orcid":"https://orcid.org/0000-0002-2872-1438"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mozhgan Nasr Azadani","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON, Canada","School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada"],"raw_orcid":"https://orcid.org/0000-0002-2872-1438","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I153718931"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada","institution_ids":["https://openalex.org/I153718931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012195474","display_name":"Azzedine Boukerche","orcid":"https://orcid.org/0000-0002-3851-9938"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Azzedine Boukerche","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON, Canada","School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada"],"raw_orcid":"https://orcid.org/0000-0002-3851-9938","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I153718931"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada","institution_ids":["https://openalex.org/I153718931"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I153718931"],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":1.1504,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81670997,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":"74","issue":"3","first_page":"3751","last_page":"3764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.8467000126838684,"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"}},"topics":[{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.8467000126838684,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.6128019094467163},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5821143388748169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48618048429489136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4458935558795929},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35171258449554443},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3394712805747986},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.22661864757537842},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.20411747694015503}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6128019094467163},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5821143388748169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48618048429489136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4458935558795929},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35171258449554443},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3394712805747986},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.22661864757537842},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.20411747694015503}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3454574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3454574","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320994","display_name":"Canada Research Chairs","ror":"https://ror.org/0517h6h17"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W2123050817","https://openalex.org/W2169601390","https://openalex.org/W2424778531","https://openalex.org/W2519586580","https://openalex.org/W2565639579","https://openalex.org/W2883602772","https://openalex.org/W2896642734","https://openalex.org/W2940129212","https://openalex.org/W2962687116","https://openalex.org/W2963001155","https://openalex.org/W2963351448","https://openalex.org/W2963906196","https://openalex.org/W2989851631","https://openalex.org/W3013376041","https://openalex.org/W3016826426","https://openalex.org/W3097237405","https://openalex.org/W3108335163","https://openalex.org/W3108486966","https://openalex.org/W3118240751","https://openalex.org/W3127561923","https://openalex.org/W3138516171","https://openalex.org/W3162665729","https://openalex.org/W3169575318","https://openalex.org/W3185489179","https://openalex.org/W3196361212","https://openalex.org/W3196864007","https://openalex.org/W3202283237","https://openalex.org/W3207633298","https://openalex.org/W3208370538","https://openalex.org/W4213069740","https://openalex.org/W4213376483","https://openalex.org/W4214593147","https://openalex.org/W4226239849","https://openalex.org/W4285212922","https://openalex.org/W4285272860","https://openalex.org/W4285307478","https://openalex.org/W4285813013","https://openalex.org/W4306319527","https://openalex.org/W4312305613","https://openalex.org/W4312339846","https://openalex.org/W4312610737","https://openalex.org/W4313590738","https://openalex.org/W4323338412","https://openalex.org/W4323519357","https://openalex.org/W4327662239","https://openalex.org/W4327808993","https://openalex.org/W4375928836","https://openalex.org/W4379116730","https://openalex.org/W4379382571","https://openalex.org/W4381198967","https://openalex.org/W4382203386","https://openalex.org/W4385245566","https://openalex.org/W4385517014","https://openalex.org/W4386076672","https://openalex.org/W4386432277","https://openalex.org/W4388543829","https://openalex.org/W4388562378","https://openalex.org/W4391340315","https://openalex.org/W6750186571","https://openalex.org/W6755472338","https://openalex.org/W6769043036","https://openalex.org/W6772101904","https://openalex.org/W6803278392"],"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":{"Understanding":[0],"and":[1,14,41,54,117,161,180,185],"forecasting":[2,71,173],"the":[3,26,62,108,129,133,140,143],"future":[4,27,59,110],"states":[5],"of":[6,28,61,135,142,177],"surrounding":[7],"agents":[8],"is":[9],"crucial":[10],"for":[11,17],"ensuring":[12],"safe":[13],"human-like":[15,56,78,186],"decision-making":[16,57],"autonomous":[18],"vehicles,":[19],"which":[20],"plays":[21],"a":[22,97,125],"pivotal":[23],"role":[24],"in":[25,58,175,181],"intelligent":[29],"transportation":[30],"systems.":[31],"While":[32],"data-driven":[33,69],"methodologies,":[34],"including":[35],"recent":[36],"advancements":[37],"such":[38,158],"as":[39,124,159],"transformers":[40],"graph":[42],"neural":[43],"networks,":[44],"have":[45],"made":[46],"significant":[47],"progress,":[48],"managing":[49],"multimodality,":[50],"achieving":[51],"scene":[52],"conformability,":[53],"providing":[55],"steps":[60],"autonomy":[63],"stack":[64],"remains":[65],"challenging.":[66],"Unlike":[67],"existing":[68],"motion":[70,79,111,172],"approaches":[72],"that":[73,106,167],"do":[74],"not":[75],"explicitly":[76],"consider":[77],"planning,":[80],"this":[81],"work":[82],"proposes":[83],"learning":[84],"from":[85],"human":[86],"(expert)":[87],"behavior":[88],"based":[89],"on":[90,150],"Inverse":[91],"Reinforcement":[92],"Learning":[93],"(IRL).":[94],"We":[95],"design":[96],"novel":[98],"Hierarchical":[99],"Transformer-based":[100],"Motion":[101],"Forecasting":[102],"framework,":[103],"called":[104],"HTMF,":[105],"learns":[107],"multimodal":[109],"distribution":[112],"using":[113],"maximum":[114],"entropy":[115],"IRL":[116],"leverages":[118],"transformer-based":[119],"learned":[120],"occupancy":[121],"grid":[122],"maps":[123],"context-aware":[126],"approximation":[127],"to":[128],"true":[130],"distribution,":[131],"enabling":[132],"generation":[134],"realistic":[136],"motions.":[137],"To":[138],"assess":[139],"performance":[141],"proposed":[144],"approach,":[145],"we":[146],"conduct":[147],"comprehensive":[148],"experiments":[149],"large-scale":[151],"real-world":[152],"datasets":[153],"across":[154],"diverse":[155],"challenging":[156],"scenarios":[157],"highways":[160],"unsignalized":[162],"intersections.":[163],"The":[164],"results":[165],"demonstrate":[166],"HTMF":[168],"outperforms":[169],"other":[170],"benchmark":[171],"methods":[174],"terms":[176],"prediction":[178],"errors":[179],"generating":[182],"more":[183],"plausible":[184],"trajectories.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}