Behavior-Pred: A semantic-enhanced trajectory pre-training framework for motion forecasting

Jianxin Shi, Jinhao Chen, Yuandong Wang, Tao Feng, Zhen Yang, Tianyu Wo

Abstract: Highlights•The collection of hdmaps poses challenges compared to traditional navigation maps.•A novel self-supervised paradigm to address autonomous trajectory prediction.•Through fine- and coarse-grained learning to represent drivers’ behavior patterns.