MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images — Paper

Abstract

Unified models for object detection and trajectory forecasting aim to merge perception and prediction for autonomous driving, refining actor trajectories directly over shared bird's-eye-view (BEV) images rasterized from LiDAR and high-definition maps. Their accuracy on dynamic, moving actors, however, remains the hardest part of the task, and the strongest such model, DeTra, has no public implementation. We contribute an openly released DeTra reimplementation with documented approximations, and on top of it MC-DeTra: a family of motion-consistency mechanisms that add supervision through two annotation-derived auxiliary signals -- each actor's observed past motion and the occupancy of the surrounding traffic that forms its social context -- and one inter-output consistency constraint that aligns an actor's predicted heading with its predicted direction of motion. Every proposed loss is train-only and inference-safe: it shapes the shared BEV representation during training and is removed at test time, adding no inference latency. On the Waymo Open Dataset, evaluated under a strict, detection-conditioned forecasting protocol, MC-DeTra improves dynamic, socially-situated trajectory forecasting while preserving or improving detection accuracy; a gradient-based loss-calibration analysis exposes how the auxiliary objectives compete at the shared backbone, and our ablation identifies which signals contribute most. We release code, configurations, and evaluation tooling at https://github.com/diuzhevVlad/MC-DeTra.

Authors 2

Vladislav Diuzhev, Dmitry Yudin

Specification

Official page: arxiv.org/abs/2609.11717
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: new
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2609.11717
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.CV, cs.RO
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2609.11717
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.CV
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

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9

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T19

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2 h ago

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Authors: Vladislav Diuzhev, Dmitry Yudin

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Value	Valid from → to	Status	Source	Confidence	Extractor
cs.CV	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →

11 Sept 2026
New paperPaperMC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images
New paper: MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images
arxiv
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Source documents
Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.CV	feed	T1· Official	2 h ago	1

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