DenseTNT: Waymo Open Dataset Motion Prediction Challenge 1st Place Solution. - Junru Gu; Qiao Sun 001; Hang Zhao 021 (CoRR, 2021)

M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction. - Qiao Sun 001; Xin Huang 018; Junru Gu; Brian C. Williams; Hang Zhao 021 (CVPR, 2022)

InterSim: Interactive Traffic Simulation via Explicit Relation Modeling. - Qiao Sun 001; Xin Huang 018; Brian C. Williams; Hang Zhao 021 (IROS, 2022)

VectorFlow: Combining Images and Vectors for Traffic Occupancy and Flow Prediction. - Xin Huang 018; Xiaoyu Tian; Junru Gu; Qiao Sun 001; Hang Zhao 021 (CoRR, 2022)

P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Driving. - Qiao Sun 001; Xin Huang 018; Brian C. Williams; Hang Zhao 021 (IROS, 2023)

Large Trajectory Models are Scalable Motion Predictors and Planners. - Qiao Sun 001; Shiduo Zhang; Danjiao Ma; Jingzhe Shi; Derun Li; Simian Luo; Yu Wang 177; Ningyi Xu; Guangzhi Cao; Hang Zhao 021 (CoRR, 2023)

Uncertainty-Aware Decision Transformer for Stochastic Driving Environments. - Zenan Li; Fan Nie; Qiao Sun 001; Fang Da; Hang Zhao 021 (CoRL, 2024)

Boosting Offline Reinforcement Learning for Autonomous Driving with Hierarchical Latent Skills. - Zenan Li; Fan Nie; Qiao Sun 001; Fang Da; Hang Zhao 021 (ICRA, 2024)

Generalizing Motion Planners with Mixture of Experts for Autonomous Driving. - Qiao Sun 001; Huimin Wang; Jiahao Zhan; Fan Nie; Xin Wen; Leimeng Xu; Kun Zhan; Peng Jia 007; Xianpeng Lang; Hang Zhao 021 (ICRA, 2025)

DriveMA: Driving Vision-Language-Action Models with verifiable Meta-Actions. - Weicheng Zheng; Yixin Huang; Qiao Sun 001; Derun Li; Hang Zhao 021 (CoRR, 2026)