Spatiotemporal trajectory data is crucial for various traffic-related applications. However, issues such as device malfunctions and network instability often result in sparse trajectories that lose detailed movement information compared to their dense counterparts. Recovering missing points in sparse trajectories is thus essential. Despite recent progress, three challenges remain. First, the lack of large-scale dense trajectory datasets hinders the training of a trajectory recovery model. Second, the varying spatiotemporal correlations in sparse trajectories make it hard to generalize across different sampling intervals.

Vehicle GPS trajectories provide valuable movement information that supports various downstream tasks and applications. A desirable trajectory learning model should be able to transfer across regions and tasks without retraining, avoiding the need to maintain multiple specialized models and subpar performance with limited training data. However, each region has its unique spatial features and contexts, which are reflected in vehicle movement patterns and are difficult to generalize. Additionally, transferring across different tasks faces technical challenges due to the varying input-output structures required for each task. Existing efforts towards transferability primarily involve learning embedding vectors for trajectories, which perform poorly in region transfer and require retraining of prediction modules for task transfer. To address these challenges, we propose TransferTraj, a vehicle GPS trajectory learning model that excels in both region and task transferability.

Abstract--Machine learning (ML) has greatly advanced data-driven channel modeling and resource optimization in wireless communication systems. However, most existing ML-based methods rely on large, accurately labeled datasets with location information, which are often difficult and costly to obtain. This paper proposes a generative framework to recover location labels directly from sequences of sparse channel state information (CSI) measurements, without explicit location labels for radio map construction. Instead of directly storing raw CSI, we learn a compact low-dimensional radio map embedding and leverage a generative model to reconstruct the high-dimensional CSI. Specifically, to address the uncertainty of sparse CSI, a dual-scale feature extraction scheme is designed to enhance feature representation by jointly exploiting correlations from angular space and across neighboring samples. We develop a hybrid recurrent-convolutional encoder to learn mobility patterns, which combines a truncation strategy and multi-scale convolutions in the recurrent neural network (RNN) to ensure feature robustness against short-term fluctuations. Unlike conventional Gaussian priors in latent space, we embed a learnable radio map to capture the location information by encoding high-level positional features from CSI measurements. Numerical experiments demonstrate that the proposed model can improve localization accuracy by over 30% and achieve a 20% capacity gain in non-line-of-sight (NLOS) scenarios compared with model-based Kalman filter approaches. ASSIVE multiple-input multiple-output (MIMO) has emerged as a cornerstone technology for 5G and beyond due to its ability to achieve efficient spatial multiplexing, high beamforming gain, and flexible interference mitigation.

Radio maps are essential for enhancing wireless communications and localization. However, existing methods for constructing radio maps typically require costly calibration processes to collect location-labeled channel state information (CSI) datasets. This paper aims to recover the data collection trajectory directly from the channel propagation sequence, eliminating the need for location calibration. The key idea is to employ a hidden Markov model (HMM)-based framework to conditionally model the channel propagation matrix, while simultaneously modeling the location correlation in the trajectory. The primary challenges involve modeling the complex relationship between channel propagation in multiple-input multiple-output (MIMO) networks and geographical locations, and addressing both line-of-sight (LOS) and non-line-of-sight (NLOS) indoor conditions. In this paper, we propose an HMM-based framework that jointly characterizes the conditional propagation model and the evolution of the user trajectory. Specifically, the channel propagation in MIMO networks is modeled separately in terms of power, delay, and angle, with distinct models for LOS and NLOS conditions. The user trajectory is modeled using a Gaussian-Markov model. The parameters for channel propagation, the mobility model, and LOS/NLOS classification are optimized simultaneously. Experimental validation using simulated MIMO-Orthogonal Frequency-Division Multiplexing (OFDM) networks with a multi-antenna uniform linear arrays (ULA) configuration demonstrates that the proposed method achieves an average localization accuracy of 0.65 meters in an indoor environment, covering both LOS and NLOS regions. Moreover, the constructed radio map enables localization with a reduced error compared to conventional supervised methods, such as k-nearest neighbors (KNN), support vector machine (SVM), and deep neural network (DNN).

We explore the geospatial reasoning capabilities of Large Language Models (LLMs), specifically, whether LLMs can read road network maps and perform navigation. Using road network as context, our prompting framework enables LLMs to generate valid paths without accessing any external navigation tools. Experiments show that LLMs outperform off-the-shelf baselines and specialized trajectory recovery models, with strong zero-shot generalization. Fine-grained analysis shows that LLMs have strong comprehension of the road network and coordinate systems, but also pose systematic biases with respect to regions and transportation modes. Finally, we demonstrate how LLMs can enhance navigation experiences by reasoning over maps in flexible ways to incorporate user preferences. Large Language Models (LLMs) are increasingly recognized as general-purpose systems, showing strong performance across domains ranging from mathematics and coding to vision and robotics. An emerging yet underex-plored question is whether these models possess geospa-tial understanding, the ability to reason about maps, paths, and spatial relationships. Such capabilities are fundamental to many real-world applications, e.g., autonomous vehicle navigation, logistics, and urban planning. While prior work has studied LLMs in contexts such as geographic knowledge retrieval (Manvi et al., 2024a;b) and map-based multiple-choice question answering (Dihan et al., 2025), the ability of LLMs to read road networks and plan paths has not been systematically evaluated. We investigate whether LLMs can perform navigation through the trajectory recovery task: reconstructing masked segments of GPS traces from the road network context, to bypass the restriction of relying on shortest path-type of ground truth which may not reflect human navigation pattern in practice (Golledge, 1995; Duckham & Kulik, 2003). Our dataset is framed in away that is harder than the traditional point-wise trajectory recovery task (Newson & Krumm, 2009; Song et al., 2017; Si et al., 2024), and closer to the higher-level navigation problem.

Real-world trajectories are often sparse with low-sampling rates (i.e., long intervals between consecutive GPS points) and misaligned with road networks, yet many applications demand high-quality data for optimal performance. To improve data quality with sparse trajectories as input, we systematically study two related research problems: trajectory recovery on road network, which aims to infer missing points to recover high-sampling trajectories, and map matching, which aims to map GPS points to road segments to determine underlying routes. In this paper, we present efficient methods TRMMA and MMA for accurate trajectory recovery and map matching, respectively, where MMA serves as the first step of TRMMA. In MMA, we carefully formulate a classification task to map a GPS point from sparse trajectories to a road segment over a small candidate segment set, rather than the entire road network. We develop techniques in MMA to generate effective embeddings that capture the patterns of GPS data, directional information, and road segments, to accurately align sparse trajectories to routes. For trajectory recovery, TRMMA focuses on the segments in the route returned by MMA to infer missing points with position ratios on road segments, producing high-sampling trajectories efficiently by avoiding evaluation of all road segments. Specifically, in TRMMA, we design a dual-transformer encoding process to cohesively capture latent patterns in trajectories and routes, and an effective decoding technique to sequentially predict the position ratios and road segments of missing points. We conduct extensive experiments to compare TRMMA and MMA with numerous existing methods for trajectory recovery and map matching, respectively, on 4 large real-world datasets. TRMMA and MMA consistently achieve the best result quality, often by a significant margin.

In real-world applications, GPS trajectories often suffer from low sampling rates, with large and irregular intervals between consecutive GPS points. This sparse characteristic presents challenges for their direct use in GPS-based systems. This paper addresses the task of map-constrained trajectory recovery, aiming to enhance trajectory sampling rates of GPS trajectories. Previous studies commonly adopt a sequence-to-sequence framework, where an encoder captures the trajectory patterns and a decoder reconstructs the target trajectory. Within this framework, effectively representing the road network and extracting relevant trajectory features are crucial for overall performance. Despite advancements in these models, they fail to fully leverage the complex spatio-temporal dynamics present in both the trajectory and the road network. To overcome these limitations, we categorize the spatio-temporal dynamics of trajectory data into two distinct aspects: spatial-temporal traffic dynamics and trajectory dynamics. Furthermore, We propose TedTrajRec, a novel method for trajectory recovery. To capture spatio-temporal traffic dynamics, we introduce PD-GNN, which models periodic patterns and learns topologically aware dynamics concurrently for each road segment. For spatio-temporal trajectory dynamics, we present TedFormer, a time-aware Transformer that incorporates temporal dynamics for each GPS location by integrating closed-form neural ordinary differential equations into the attention mechanism. This allows TedFormer to effectively handle irregularly sampled data. Extensive experiments on three real-world datasets demonstrate the superior performance of TedTrajRec. The code is publicly available at https://github.com/ysygMhdxw/TEDTrajRec/.

Vehicle GPS trajectories provide valuable movement information that supports various downstream tasks and applications. A desirable trajectory learning model should be able to transfer across regions and tasks without retraining, avoiding the need to maintain multiple specialized models and subpar performance with limited training data. However, each region has its unique spatial features and contexts, which are reflected in vehicle movement patterns and difficult to generalize. Additionally, transferring across different tasks faces technical challenges due to the varying input-output structures required for each task. Existing efforts towards transferability primarily involve learning embedding vectors for trajectories, which perform poorly in region transfer and require retraining of prediction modules for task transfer. To address these challenges, we propose TransferTraj, a vehicle GPS trajectory learning model that excels in both region and task transferability. For region transferability, we introduce RTTE as the main learnable module within TransferTraj. It integrates spatial, temporal, POI, and road network modalities of trajectories to effectively manage variations in spatial context distribution across regions. It also introduces a TRIE module for incorporating relative information of spatial features and a spatial context MoE module for handling movement patterns in diverse contexts. For task transferability, we propose a task-transferable input-output scheme that unifies the input-output structure of different tasks into the masking and recovery of modalities and trajectory points. This approach allows TransferTraj to be pre-trained once and transferred to different tasks without retraining. Extensive experiments on three real-world vehicle trajectory datasets under task transfer, zero-shot, and few-shot region transfer, validating TransferTraj's effectiveness.

Spatiotemporal trajectory data is vital for web-of-things services and is extensively collected and analyzed by web-based hardware and platforms. However, issues such as service interruptions and network instability often lead to sparsely recorded trajectories, resulting in a loss of detailed movement data. As a result, recovering these trajectories to restore missing information becomes essential. Despite progress, several challenges remain unresolved. First, the lack of large-scale dense trajectory data hampers the performance of existing deep learning methods, which rely heavily on abundant data for supervised training. Second, current methods struggle to generalize across sparse trajectories with varying sampling intervals, necessitating separate re-training for each interval and increasing computational costs. Third, external factors crucial for the recovery of missing points are not fully incorporated. To address these challenges, we propose a framework called PTR. This framework mitigates the issue of limited dense trajectory data by leveraging the capabilities of pre-trained language models (PLMs). PTR incorporates an explicit trajectory prompt and is trained on datasets with multiple sampling intervals, enabling it to generalize effectively across different intervals in sparse trajectories. To capture external factors, we introduce an implicit trajectory prompt that models road conditions, providing richer information for recovering missing points. Additionally, we present a trajectory embedder that encodes trajectory points and transforms the embeddings of both observed and missing points into a format comprehensible to PLMs. Experimental results on two public trajectory datasets with three sampling intervals demonstrate the efficacy and scalability of PTR.

Once analysed, location trajectories can provide valuable insights beneficial to various applications. However, such data is also highly sensitive, rendering them susceptible to privacy risks in the event of mismanagement, for example, revealing an individual's identity, home address, or political affiliations. Hence, ensuring that privacy is preserved for this data is a priority. One commonly taken measure to mitigate this concern is aggregation. Previous work by Xu et al. shows that trajectories are still recoverable from anonymised and aggregated datasets. However, the study lacks implementation details, obfuscating the mechanisms of the attack. Additionally, the attack was evaluated on commercial non-public datasets, rendering the results and subsequent claims unverifiable. This study reimplements the trajectory recovery attack from scratch and evaluates it on two open-source datasets, detailing the preprocessing steps and implementation. Results confirm that privacy leakage still exists despite common anonymisation and aggregation methods but also indicate that the initial accuracy claims may have been overly ambitious. We release all code as open-source to ensure the results are entirely reproducible and, therefore, verifiable. Moreover, we propose a stronger attack by designing a series of enhancements to the baseline attack. These enhancements yield higher accuracies by up to 16%, providing an improved benchmark for future research in trajectory recovery methods. Our improvements also enable online execution of the attack, allowing partial attacks on larger datasets previously considered unprocessable, thereby furthering the extent of privacy leakage. The findings emphasise the importance of using strong privacy-preserving mechanisms when releasing aggregated mobility data and not solely relying on aggregation as a means of anonymisation.