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GENERATING TRAJECTORY LABELS FROM SHORT-TERM INTENTION AND LONG-TERM RESULT
GENERATING TRAJECTORY LABELS FROM SHORT-TERM INTENTION AND LONG-TERM RESULT
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机译:从短期意图和长期结果生成轨迹标签
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摘要
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating training data for training a machine learning model to perform trajectory prediction. One of the methods includes: obtaining a training input, the training input including (i) data characterizing an agent in an environment as of a first time and (ii) data characterizing a candidate trajectory of the agent in the environment for a first time period that is after the first time. A long-term label for the candidate trajectory that indicates whether the agent actually followed the candidate trajectory for the first time period is determined. A short-term label for the candidate trajectory that indicates whether the agent intended to follow the candidate trajectory is determined. A ground-truth probability for the candidate trajectory is determined. The training input is associated with the ground-truth probability for the candidate trajectory in the training data.
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