Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Lifelong Vehicle Trajectory Prediction Framework Based on Generative
  Replay   Accurate trajectory prediction of vehicles is essential for reliable
autonomous driving. To maintain consistent performance as a vehicle driving
around different cities, it is crucial to adapt to changing traffic
circumstances and achieve lifelong trajectory prediction model. To realize it,
catastrophic forgetting is a main problem to be addressed. In this paper, a
divergence measurement method based on conditional Kullback-Leibler divergence
is proposed first to evaluate spatiotemporal dependency difference among varied
driving circumstances. Then based on generative replay, a novel lifelong
vehicle trajectory prediction framework is developed. The framework consists of
a conditional generation model and a vehicle trajectory prediction model. The
conditional generation model is a generative adversarial network conditioned on
position configuration of vehicles. After learning and merging trajectory
distribution of vehicles across different cities, the generation model replays
trajectories with prior samplings as inputs, which alleviates catastrophic
forgetting. The vehicle trajectory prediction model is trained by the replayed
trajectories and achieves consistent prediction performance on visited cities.
A lifelong experiment setup is established on four open datasets including five
tasks. Spatiotemporal dependency divergence is calculated for different tasks.
Even though these divergence, the proposed framework exhibits lifelong learning
ability and achieves consistent performance on all tasks.

12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess
0
The categories of this paper are: hep-ph
17
The categories of this paper are: q-fin
18
The categories of this paper are: econ
8
The categories of this paper are: hep-ex
35
The categories of this paper are: mtrl-th
37
The categories of this paper are: supr-con
29
The categories of this paper are: funct-an
23
The categories of this paper are: solv-int
33
The categories of this paper are: plasm-ph
9
The categories of this paper are: nlin
11
The categories of this paper are: hep-lat
31
The categories of this paper are: ao-sci
22
The categories of this paper are: chao-dyn
6
The categories of this paper are: astro-ph