{"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/motion-prediction-using-trajectory-sets-and","title":"Motion Prediction using Trajectory Sets and Self-Driving Domain Knowledge","arxiv_id":"2006.04767","date":"2020-06-08","proceeding":null,"authors":["Freddy A. Boulton","Elena Corina Grigore","Eric M. Wolff"],"abstract":"Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates possible motions, achieves state-of-the-art performance and avoids issues like mode collapse. However, map information and the physical relationships between nearby trajectories is not fully exploited in this formulation. We build on classification-based approaches to motion prediction by adding an auxiliary loss that penalizes off-road predictions. This auxiliary loss can easily be pretrained using only map information (e.g., off-road area), which significantly improves performance on small datasets. We also investigate weighted cross-entropy losses to capture spatial-temporal relationships among trajectories. Our final contribution is a detailed comparison of classification and ordinal regression on two public self-driving datasets.","url_abs":"https://arxiv.org/abs/2006.04767v2","url_pdf":"https://arxiv.org/pdf/2006.04767v2.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":"motion-prediction-using-trajectory-sets-and","repo_url":"https://github.com/continental/kiwissen-bayesian-trajectory-prediction","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":{"status":"ok","spdx":"BSD-3-Clause"}}],"tasks":[{"task_slug":"classification-1","task_name":"Classification"},{"task_slug":"classification","task_name":"General Classification"},{"task_slug":"motion-prediction","task_name":"motion prediction"},{"task_slug":"regression-1","task_name":"regression"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}