Adaptive prediction ensemble for motion forecasting

Abstract

A system and a method for motion forecasting are provided. The system acquires input data including road map images and historical trajectory information of a set of agents and transforms the input data into a vectorized representation. The system generates a first candidate trajectory prediction for the set of agents by application of a motion prediction neural network on the vectorized representation. The system further generates a second candidate trajectory prediction for the set of agents by application of a rule-based prediction model on the acquired input data. The system trains the motion prediction neural network based on the first candidate trajectory prediction and a set of ground truth trajectories of the set of agents. The system generates ranking results for the first candidate trajectory prediction and the second candidate trajectory prediction based on a routing function network and trains the routing function network based on the ranking results.