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 samples is a key performance indicator of a trajectory prediction model. However%2C the development and ranking of state-of-the-art (SotA) models are driven by their In-Distribution (ID) performance on individual competition datasets. We present an OoD testing protocol that homogenizes datasets and prediction tasks across two large-scale motion datasets. We introduce a novel prediction algorithm based on polynomial representations for agent trajectory and road geometry on both the input and output sides of the model. With a much smaller model size%2C training effort%2C and inference time%2C we reach near SotA performance for ID testing and significantly improve robustness in OoD testing. Within our OoD testing protocol%2C we further study two augmentation strategies of SotA models and their effects on model generalization. Highlighting the contrast between ID and OoD performance%2C we suggest adding OoD testing to the evaluation criteria of trajectory prediction models.?quality=80&w=800)
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