Learning-based trajectory prediction models have encountered great success, with the promise of leveraging contextual information in addition to motion history. Yet, we find that state-of-the-art forecasting methods tend to overly rely on the agent's current dynamics, failing to exploit the semantic contextual cues provided at its input. To alleviate this issue, we introduce CAB, a motion forecasting model equipped with a training procedure designed to promote the use of semantic contextual information. We also introduce two novel metrics - dispersion and convergence-to-range - to measure the temporal consistency of successive forecasts, which we found missing in standard metrics. Our method is evaluated on the widely adopted nuScenes Prediction benchmark as well as on a subset of the most difficult examples from this benchmark. The code is available at github.com/valeoai/CAB
@article{arxiv.2109.08048,
title = {Raising context awareness in motion forecasting},
author = {Hédi Ben-Younes and Éloi Zablocki and Mickaël Chen and Patrick Pérez and Matthieu Cord},
journal= {arXiv preprint arXiv:2109.08048},
year = {2022}
}