SOURCE-LINKED INTELLIGENCE
From Learned-Mode AV-Traffic Pairing to Planner Decisions: A Marginal-Preserving Study on Argoverse 2
Joint motion forecasts pair each autonomous-vehicle (AV) future with surrounding traffic, but actor-level metrics do not show whether that structure matters to a planner. We study this question with a marginal-preserving product control that removes AV-traffic pairing among the learned modes while retaining the fixed constant-velocity pair and holding trajectories, actor-level marginals before planner conditioning, candidates, the cost terms and weights, and fallback fixed. The intervention also changes candidate-conditioned concentration. Across twelve runs on 1,400 held-out Argoverse 2 scena
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-14T04:05:14.000Z
First collected: 2026-09-20T11:41:07.830Z. This is not the publication date.