{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/criteria-a-new-benchmarking-paradigm-for","title":"CRITERIA: a New Benchmarking Paradigm for Evaluating Trajectory Prediction Models for Autonomous Driving","arxiv_id":"2310.07794","date":"2023-10-11","proceeding":null,"authors":["Changhe Chen","Mozhgan PourKeshavarz","Amir Rasouli"],"abstract":"Benchmarking is a common method for evaluating trajectory prediction models for autonomous driving. Existing benchmarks rely on datasets, which are biased towards more common scenarios, such as cruising, and distance-based metrics that are computed by averaging over all scenarios. Following such a regiment provides a little insight into the properties of the models both in terms of how well they can handle different scenarios and how admissible and diverse their outputs are. There exist a number of complementary metrics designed to measure the admissibility and diversity of trajectories, however, they suffer from biases, such as length of trajectories. In this paper, we propose a new benChmarking paRadIgm for evaluaTing trajEctoRy predIction Approaches (CRITERIA). Particularly, we propose 1) a method for extracting driving scenarios at varying levels of specificity according to the structure of the roads, models' performance, and data properties for fine-grained ranking of prediction models; 2) A set of new bias-free metrics for measuring diversity, by incorporating the characteristics of a given scenario, and admissibility, by considering the structure of roads and kinematic compliancy, motivated by real-world driving constraints. 3) Using the proposed benchmark, we conduct extensive experimentation on a representative set of the prediction models using the large scale Argoverse dataset. We show that the proposed benchmark can produce a more accurate ranking of the models and serve as a means of characterizing their behavior. We further present ablation studies to highlight contributions of different elements that are used to compute the proposed metrics.","url_abs":"https://arxiv.org/abs/2310.07794v2","url_pdf":"https://arxiv.org/pdf/2310.07794v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"criteria-a-new-benchmarking-paradigm-for","repo_url":"https://github.com/huawei-noah/SMARTS","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"tf","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"benchmarking","task_name":"Benchmarking"},{"task_slug":"diversity","task_name":"Diversity"},{"task_slug":"prediction","task_name":"Prediction"},{"task_slug":"specificity","task_name":"Specificity"},{"task_slug":"trajectory-prediction","task_name":"Trajectory Prediction"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}