Benjamin Sapp

Engineering · Physical Sciences

23h-index3.7kcitations45works2.52yr avg
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Research Topics

Autonomous Vehicle Technology and Safety(21), Video Surveillance and Tracking Methods(13), Human Pose and Action Recognition(9), Anomaly Detection Techniques and Applications(9), Time Series Analysis and Forecasting(7)

Publications42 total

Scaling Laws of Motion Forecasting and Planning -- Technical Report
arXiv (Cornell University)·2025Open Access
EMMA: End-to-End Multimodal Model for Autonomous Driving
arXiv (Cornell University)·2024· 5 citedOpen Access
Waymax: An Accelerated, Data-Driven Simulator for Large-Scale Autonomous Driving Research
arXiv (Cornell University)·2023· 22 citedOpen Access
MotionLM: Multi-Agent Motion Forecasting as Language Modeling
2023· 72 cited
Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios
2023· 58 cited
MotionLM: Multi-Agent Motion Forecasting as Language Modeling
arXiv (Cornell University)·2023· 1 citedOpen Access
MotionDiffuser: Controllable Multi-Agent Motion Prediction Using Diffusion
2023· 106 cited
Wayformer: Motion Forecasting via Simple & Efficient Attention Networks
2023· 193 cited
Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios
arXiv (Cornell University)·2022· 3 citedOpen Access
JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Driving
arXiv (Cornell University)·2022· 7 citedOpen Access
Wayformer: Motion Forecasting via Simple & Efficient Attention Networks
arXiv (Cornell University)·2022· 6 citedOpen Access
Narrowing the Coordinate-frame Gap in Behavior Prediction Models: Distillation for Efficient and Accurate Scene-centric Motion Forecasting
arXiv (Cornell University)·2022Open Access
MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction
2022 International Conference on Robotics and Automation (ICRA)·2022· 266 cited
Narrowing the coordinate-frame gap in behavior prediction models: Distillation for efficient and accurate scene-centric motion forecasting
2022 International Conference on Robotics and Automation (ICRA)·2022· 10 cited
MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction
arXiv (Cornell University)·2021Open Access
Scene Transformer: A unified multi-task model for behavior prediction and planning
arXiv (Cornell University)·2021· 48 citedOpen Access
Identifying Driver Interactions via Conditional Behavior Prediction
2021· 2 citedOpen Access
Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset
arXiv (Cornell University)·2021Open Access
TNT: Target-driveN Trajectory Prediction
arXiv (Cornell University)·2020· 209 citedOpen Access
TNT: Target-driveN Trajectory Prediction
arXiv (Cornell University)·2020· 13 citedOpen Access
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Frequent Co-authors

Dragomir Anguelov(15), Ben Taskar(7), Rami Al‐Rfou(7), Khaled S. Refaat(6), Nigamaa Nayakanti(6), Yuning Chai(5), Balakrishnan Varadarajan(5), James Philbin(4), Bertrand Douillard(4), Aurick Zhou(4), Alexander Toshev(3), Kratarth Goel(3), Cheol‐Ho Park(3), Ari Seff(3), Yiren Lu(3), Justin Fu(3), George Tucker(3), Eli Bronstein(3), Rebecca Roelofs(3), Aleksandra Faust(3)