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arXiv · 2210.04672

Exploiting map information for self-supervised learning in motion forecasting

Caio Azevedo·Thomas Gilles·Stefano Sabatini·Dzmitry Tsishkou
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Abstract

Inspired by recent developments regarding the application of self-supervised learning (SSL), we devise an auxiliary task for trajectory prediction that takes advantage of map-only information such as graph connectivity with the intent of improving map comprehension and generalization. We apply this auxiliary task through two frameworks - multitasking and pretraining. In either framework we observe significant improvement of our baseline in metrics such as $\mathrm{minFDE}_6$ (as much as 20.3%) and $\mathrm{MissRate}_6$ (as much as 33.3%), as well as a richer comprehension of map features demonstrated by different training configurations. The results obtained were consistent in all three data sets used for experiments: Argoverse, Interaction and NuScenes. We also submit our new pretrained model's results to the Interaction challenge and achieve $\textit{1st}$ place with respect to $\mathrm{minFDE}_6$ and $\mathrm{minADE}_6$.

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Caio Azevedo, Thomas Gilles, Stefano Sabatini, Dzmitry Tsishkou. 2022-10-10. Exploiting map information for self-supervised learning in motion forecasting. https://arxiv.org/abs/2210.04672

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