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Destination Support Restoration for Finite-Set Multimodal Trajectory Prediction

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Robots operating around pedestrians often reason over a finite set of predicted human futures. Repeated online updates can concentrate this limited prediction budget on dominant destinations and leave plausible alternatives underrepresented or absent, removing those alternatives from the finite representation available to downstream decision making. We introduce Destination Support Restoration (DSR), a causal post-selection operator that repairs destination support without retraining the host predictor or increasing the maintained set size. At a repair step, DSR evaluates a temporary destinati

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