5 Glossary

5.1 Route

Synonym: Path, spatial path, checkpoints Definition: Spatial path with 1m distance between each point.

5.2 Waypoints

Synonym: Trajectory, future positions Definition: Spatio-temporal trajectory, describes future positions.

5.3 Goal point

Synonym: Target point Definition: Point in ego-coordinate system depicts where to drive to.

5.4 Target speed

Synonym: Desired speed, reference speed Definition: Desired velocity the vehicle should achieve.

5.5 Command

Synonym: Navigation command, high-level command Definition: High-level navigation instruction (left, right, straight, lane follow, etc.).

5.6 Occupancy map

Definition: Rasterized image with dynamic actors displayed.

5.7 HD-Map

Definition: Rasterized image with road structure displayed.

5.8 BEV Semantic Segmentation

Definition: HD-Map + Occupancy map.

5.9 Persistent Cache

Synonym: HDD-Cache Definition: Training data cache that is stored on disk and persists after training. Should be built only once.

5.10 Training Session Cache

Definition: Mostly used in SLURM context where each SLURM job gets its own fast SSD assigned.

5.11 Perturbation

Synonym: Sensor perturbation, sensor augmentation. Definition: Shift and rotate sensor rig to simulate deviation from route and teach model to recover.

5.12 Ensemble

Synonym: Averaging. Definition: Ensemble multiple seeds for more robust prediction.

5.13 Buckets

Related: Bucket collection Definition: A bucket = a subset of the dataset. A bucket collection = a list of buckets. Should be built only once.