# Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddings

arXiv: https://arxiv.org/abs/2606.30777 · HTML: https://mlsanity.com/paper/2606.30777/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 84 of its 116 references that are in the map.
- First posted on arXiv 29 Jun 2026.

## Builds on (most cited first, 30 of 84)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [On the Opportunities and Risks of Foundation Models](https://mlsanity.com/paper/2108.07258/) (2021)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [Fast Graph Representation Learning with PyTorch Geometric](https://mlsanity.com/paper/1903.02428/) (2019)
- [Knowledge Distillation: A Survey](https://mlsanity.com/paper/2006.05525/) (2020)
- [On the Properties of Neural Machine Translation: Encoder-Decoder Approaches](https://mlsanity.com/paper/1409.1259/) (2014)
- [How transferable are features in deep neural networks?](https://mlsanity.com/paper/1411.1792/) (2014)
- [The FineWeb Datasets: Decanting the Web for the Finest Text Data at Scale](https://mlsanity.com/paper/2406.17557/) (2024)
- [Weisfeiler and Leman Go Neural: Higher-order Graph Neural Networks](https://mlsanity.com/paper/1810.02244/) (2018)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [An Empirical Investigation of Catastrophic Forgetting in Gradient-Based Neural Networks](https://mlsanity.com/paper/1312.6211/) (2013)
- [Deduplicating Training Data Makes Language Models Better](https://mlsanity.com/paper/2107.06499/) (2021)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [DropEdge: Towards Deep Graph Convolutional Networks on Node Classification](https://mlsanity.com/paper/1907.10903/) (2019)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [Learning Lane Graph Representations for Motion Forecasting](https://mlsanity.com/paper/2007.13732/) (2020)
- [AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting](https://mlsanity.com/paper/2103.14023/) (2021)
- [SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraints](https://mlsanity.com/paper/1806.01482/) (2018)
- [Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networks](https://mlsanity.com/paper/1809.10732/) (2018)
- [The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems](https://mlsanity.com/paper/1810.05642/) (2018)
- [One Thousand and One Hours: Self-driving Motion Prediction Dataset](https://mlsanity.com/paper/2006.14480/) (2020)
- [INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps](https://mlsanity.com/paper/1910.03088/) (2019)
- [Characterizing and Avoiding Negative Transfer](https://mlsanity.com/paper/1811.09751/) (2018)
- [Convolutional Social Pooling for Vehicle Trajectory Prediction](https://mlsanity.com/paper/1805.06771/) (2018)

## Abstract (arXiv)

The growing availability of trajectory datasets has fueled major advances in data-driven motion prediction. Yet, models trained on one dataset often fail to generalize beyond their training domain as a result of differences in scene layouts, agent behaviors, and sensing conditions. A framework that learns latent representations of datasets and quantifies their similarity using distributional metrics is presented. This large-scale study covers 24 major datasets, including the most widely used motion-prediction benchmarks, and shows that the resulting transferability scores strongly correlate with cross-dataset model performance. The results provide practical guidance for dataset selection, pretraining, and large-scale foundation models for motion prediction, paving the way toward more generalizable and robust predictive systems.