Injecting Planning-Awareness into Prediction and Detection Evaluation (IV2022)

Summary

• https://github.com/BorisIvanovic/PlanningAwareEvaluation
• Detectionとforecastingに使えるPI-metricsの提案

Method

• 他の手法

• task-aware evaluation metrics be:
  • 1. Able to capture asymmetries in downstream tasks.
  • 2. Method-agnostic.
  • 3. Computationally feasible to compute.
  • 4. Interpretable by humans.
• MPCみたいなlinear cost function をplanningとして設定
  • objectのpredictionを弄った時に微分値が揺れる = 影響が大きいobject
• PI-Metric = $ \sigma $ f((cost functionの微分値)) * Metric
  • Metricは既存のmetricで良い

Experiment

Discussion

• cost関数の設定してその微分に任せるのは結構筋良さげに見える