labels and rkhs application

[bakshikaivalya]

i have a few questions and have possibly found an error in the script TrajPreProcess.m.

• the publication says that the inputs have dimensionality ( 6 (speeds), 6 (longitudinal positions), 6 (lateral positions) )*30 (steps), 6 (car widths) = 541 and the outputs have dimensionality 4 (start and end longitudinal and lateral positions). why does the paper mention in section III.B that the dimensionality of the output is $D=2$ and not $D=4$ as expected (start and end longitudinal and lateral positions imply 4 real numbers)?
• the script TrajPreProcess.m script has the code Label(i,1) = trajs.veh_s.y(points(i,1)) - origin_y; Label(i,2) = trajs.veh_s.y(points(i,2)) - origin_y; but why does it not generate the store the labels corresponding to the lateral positions in the matrix Label? this seems to have to do with the question in the point above, that is, the dimensionality of the output should be 4 and not 2, as incorrectly mentioned in the section III.B of the paper.

thanks for your attention!