Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Flash: Fast and Light Motion Prediction for Autonomous Driving with
  Bayesian Inverse Planning and Learned Motion Profiles   Motion prediction of road users in traffic scenes is critical for autonomous
driving systems that must take safe and robust decisions in complex dynamic
environments. We present a novel motion prediction system for autonomous
driving. Our system is based on the Bayesian inverse planning framework, which
efficiently orchestrates map-based goal extraction, a classical control-based
trajectory generator and an ensemble of light-weight neural networks
specialised in motion profile prediction. In contrast to many alternative
methods, this modularity helps isolate performance factors and better interpret
results, without compromising performance. This system addresses multiple
aspects of interest, namely multi-modality, motion profile uncertainty and
trajectory physical feasibility. We report on several experiments with the
popular highway dataset NGSIM, demonstrating state-of-the-art performance in
terms of trajectory error. We also perform a detailed analysis of our system's
components, along with experiments that stratify the data based on behaviours,
such as change lane versus follow lane, to provide insights into the challenges
in this domain. Finally, we present a qualitative analysis to show other
benefits of our approach, such as the ability to interpret the outputs.

26
The categories of this paper are: bayes-an
4
The categories of this paper are: cond-mat
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
11
The categories of this paper are: hep-lat
28
The categories of this paper are: alg-geom
2
The categories of this paper are: math
10
The categories of this paper are: q-bio
30
The categories of this paper are: q-alg
3
The categories of this paper are: physics
29
The categories of this paper are: funct-an
17
The categories of this paper are: q-fin
7
The categories of this paper are: hep-th
24
The categories of this paper are: dg-ga
31
The categories of this paper are: ao-sci
13
The categories of this paper are: quant-ph