Autonomous Driving › Selected Notation

Three quantities used in the toy experiment and its display are:

• K: Number of candidate trajectory modes; this synthetic comparison uses $K=2$.
• sigma: Width of the display-only Gaussian smoothing kernel used to turn sampled center positions into the empirical per-time position grid; it is not a calibrated sensor-noise parameter.
• T_pred: Prediction horizon in timesteps. Longer horizons can make regression and candidate coverage harder when behavior branches or uncertainty grows; horizon length alone does not imply more modes.