Observability-Aligned Evidential Masked Pretraining for Reliable VRU Motion Prediction

Shang Gao; Franz Götz-Hahn; Konrad Doll; Bernhard Sick

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arXiv · 2610.39958

Observability-Aligned Evidential Masked Pretraining for Reliable VRU Motion Prediction

Shang Gao·Franz Götz-Hahn·Konrad Doll·Bernhard Sick

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Abstract

Vulnerable road user (VRU) prediction must operate under partial observability and distribution shift, so reliable uncertainty matters alongside accuracy. Masked pretraining is attractive in this setting because it naturally exposes the model to missing content during self-supervision, but existing time-series masked autoencoding methods are typically deterministic and do not constrain how confidence should change with observability. We introduce eCoMAE, an evidential masked pretraining method for multivariate time series that explicitly aligns predictive evidence with what is observed. eCoMAE combines block-wise time-step masking with a Normal-Inverse-Gamma decoder and three observability-aware mechanisms: uncertainty-weighted mean consistency on positions visible in both a masked view and a reference pass, evidence suppression on masked positions, and representation consistency across stochastic masks. On IMPTC benchmark for VRU intention prediction under leave-one-environment-out weather shift, eCoMAE improves the strongest baseline from 0.7971 to 0.8068 in OOD accuracy and from 0.0718 to 0.0648 in OOD AURC. Additional evaluation on pedestrian trajectory forecasting across IMPTC, Waymo, nuScenes, and inD further yields the best fine-tuning MSE on all four datasets. These results show that observability-aligned evidential pretraining improves reliability under shift and remains effective beyond the primary benchmark.

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BibTeX RIS

Shang Gao, Franz Götz-Hahn, Konrad Doll, Bernhard Sick. 2026-10-29. Observability-Aligned Evidential Masked Pretraining for Reliable VRU Motion Prediction. https://arxiv.org/abs/2610.39958

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