Kernel-Based Metrics Learning for Uncertain Opponent Vehicle Trajectory Prediction in Autonomous Racing

arXiv:2609.17147 · cs.RO, cs.AI, cs.LG · Submitted 2026-09-15 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-09-15

Updated: 2026-09-15

Comments: Accepted version of the article published in IEEE Robotics and Automation Letters

Journal ref: IEEE Robotics and Automation Letters, vol. 9, no. 12, pp. 11050-11057, Dec. 2024

DOI: 10.1109/LRA.2024.3486178

Code: https://github.com/HMCL-UNIST/OpponentPredictionWithKMDKL

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Alignment — 12× in this paper · explained in 1 episode
• Latent Space — 9× in this paper · explained in 7 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Calibration — 6× in this paper · explained in 7 episodes
• Clustering — 4× in this paper · explained in 2 episodes
• Deep Kernel Learning — 4× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Regularization — 3× in this paper · explained in 3 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Ego Vehicle — 2× in this paper
• Negative Log-Likelihood — 2× in this paper
• Representation Learning — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Aleatoric Uncertainty — 1× in this paper · explained in 4 episodes
• Constant Angular Velocity — 1× in this paper
• Elias — 1× in this paper · explained in 2 episodes
• Epistemic Uncertainty — 1× in this paper · explained in 9 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Meta-learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Time Series Forecasting — 1× in this paper · explained in 3 episodes
• Uncertainty Quantification — 1× in this paper · explained in 8 episodes

Sources

• UniTraj: A Unified Framework for Scalable Vehicle Trajectory Prediction
• Simple Contrastive Representation Learning for Time Series Forecasting

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