arXiv (OAI Expanded)
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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 r
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