About preprocessing

[zyandtom]

Congrats! Actually I have a question which has confused me a few days. When we rasterize the map information, why we need to shift and rotate the local coordinate system that the target agent is located at a specific location? I konw that many papers has used this method like buliding a relative coordinate system and the center is target agent. why? and what is the meaning of "to eliminate the redundant degrees of freedom" in your report? Thank you in advance!

[kbrodt]

Thanks! Putting the agent into specific (and fixed) place helps the model learn faster and with less data. Imagine if the agent appears on each position of an image at each frame. In this case, the model must first determine where the agent is located, and only then predict motion.