Abstract:Trajectory forecasting for autonomous driving has advanced rapidly, yet representative models often produce uninformative posteriors over forecast modes, causing problems for mode pruning. We trace this to a modeling-training mismatch: forecasters are typically modeled as conditional Gaussian mixture models (GMMs) but trained with a winner-take-all (WTA) loss that assigns each sample to its nearest mode. We argue that this K-means-like hard assignment (one-hot), while preventing mode collapse, is the source of uninformative mode probabilities: it over-segments the trajectory space, ignores relatedness among nearby modes, and yields assignment instability under small perturbations. Guided by this lens, we introduce two post-hoc treatments: (1) test-time posterior-weighted merging that aggregates nearby candidate trajectories; and (2) a one-step expectation-maximization (EM) update that replaces hard labels with soft responsibilities, sharing probability mass across neighboring modes. Across several WTA-trained architectures, these lightweight steps produce more informative, faithfully ranked mode posteriors and strengthen final forecasts on popular displacement metrics -- without retraining. Our analysis unifies recent design choices through a GMM-vs-K-means perspective and offers principled, practical corrections that better align training objectives with inference.
From: Qiyuan Wu [view email]
[v1]
Wed, 24 Jun 2026 22:26:43 UTC (4,206 KB)
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