Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned
  Interactive Trajectory Prediction   Motion forecasting in highly interactive scenarios is a challenging problem
in autonomous driving. In such scenarios, we need to accurately predict the
joint behavior of interacting agents to ensure the safe and efficient
navigation of autonomous vehicles. Recently, goal-conditioned methods have
gained increasing attention due to their advantage in performance and their
ability to capture the multimodality in trajectory distribution. In this work,
we study the joint trajectory prediction problem with the goal-conditioned
framework. In particular, we introduce a
conditional-variational-autoencoder-based (CVAE) model to explicitly encode
different interaction modes into the latent space. However, we discover that
the vanilla model suffers from posterior collapse and cannot induce an
informative latent space as desired. To address these issues, we propose a
novel approach to avoid KL vanishing and induce an interpretable interactive
latent space with pseudo labels. The pseudo labels allow us to incorporate
arbitrary domain knowledge on interaction. We motivate the proposed method
using an illustrative toy example. In addition, we validate our framework on
the Waymo Open Motion Dataset with both quantitative and qualitative
evaluations.

20
The categories of this paper are: acc-phys
34
The categories of this paper are: chem-ph
4
The categories of this paper are: cond-mat
22
The categories of this paper are: chao-dyn
7
The categories of this paper are: hep-th
11
The categories of this paper are: hep-lat
2
The categories of this paper are: math
19
The categories of this paper are: eess
8
The categories of this paper are: hep-ex
14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an
25
The categories of this paper are: patt-sol
33
The categories of this paper are: plasm-ph
36
The categories of this paper are: cmp-lg
13
The categories of this paper are: quant-ph
35
The categories of this paper are: mtrl-th