T4P: Test-Time Training of Trajectory Prediction via Masked Autoencoder
  and Actor-specific Token Memory
Daehee Park Jaeseok Jeong Sung-Hoon Yoon Jaewoo Jeong Kuk-Jin Yoon
Trajectory prediction is a challenging problem that requires considering
interactions among multiple actors and the surrounding environment. While
data-driven approaches have been used to address this complex problem, they
suffer from unreliable predictions under distribution shifts during test time.
Accordingly, several online learning methods have been proposed using
regression loss from the ground truth of observed data leveraging the
auto-labeling nature of trajectory prediction task. We mainly tackle the
following two issues. First, previous works underfit and overfit as they only
optimize the last layer of the motion decoder. To this end, we employ the
masked autoencoder (MAE) for representation learning to encourage complex
interaction modeling in shifted test distribution for updating deeper layers.
Second, utilizing the sequential nature of driving data, we propose an
actor-specific token memory that enables the test-time learning of actor-wise
motion characteristics. Our proposed method has been validated across various
challenging cross-dataset distribution shift scenarios including nuScenes,
Lyft, Waymo, and Interaction. Our method surpasses the performance of existing
state-of-the-art online learning methods in terms of both prediction accuracy
and computational efficiency. The code is available at
https://github.com/daeheepark/T4P.