# Synthetic-to-Real Translation for Class-Agnostic Motion Prediction

arXiv: https://arxiv.org/abs/2607.06319 · HTML: https://mlsanity.com/paper/2607.06319/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 39 of its 63 references that are in the map.
- First posted on arXiv 7 Jul 2026.

## Builds on (most cited first, 30 of 39)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [PWC-Net: CNNs for Optical Flow Using Pyramid, Warping, and Cost Volume](https://mlsanity.com/paper/1709.02371/) (2017)
- [A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation](https://mlsanity.com/paper/1512.02134/) (2015)
- [A Survey on Multi-Task Learning](https://mlsanity.com/paper/1707.08114/) (2017)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Prediction](https://mlsanity.com/paper/1910.05449/) (2019)
- [PointGroup: Dual-Set Point Grouping for 3D Instance Segmentation](https://mlsanity.com/paper/2004.01658/) (2020)
- [BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision](https://mlsanity.com/paper/2211.10439/) (2022)
- [Prototypical Pseudo Label Denoising and Target Structure Learning for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2101.10979/) (2021)
- [ST3D: Self-training for Unsupervised Domain Adaptation on 3D Object Detection](https://mlsanity.com/paper/2103.05346/) (2021)
- [PnPNet: End-to-End Perception and Prediction with Tracking in the Loop](https://mlsanity.com/paper/2005.14711/) (2020)
- [LiDARsim: Realistic LiDAR Simulation by Leveraging the Real World](https://mlsanity.com/paper/2006.09348/) (2020)
- [MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Maps](https://mlsanity.com/paper/2003.06754/) (2020)
- [Cross-domain Contrastive Learning for Unsupervised Domain Adaptation](https://mlsanity.com/paper/2106.05528/) (2021)
- [From Synthetic to Real: Image Dehazing Collaborating with Unlabeled Real Data](https://mlsanity.com/paper/2108.02934/) (2021)
- [LidarDM: Generative LiDAR Simulation in a Generated World](https://mlsanity.com/paper/2404.02903/) (2024)
- [C-SFDA: A Curriculum Learning Aided Self-Training Framework for Efficient Source Free Domain Adaptation](https://mlsanity.com/paper/2303.17132/) (2023)
- [Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud](https://mlsanity.com/paper/2207.11919/) (2022)
- [Self-Supervised Pillar Motion Learning for Autonomous Driving](https://mlsanity.com/paper/2104.08683/) (2021)
- [Augmented LiDAR Simulator for Autonomous Driving](https://mlsanity.com/paper/1811.07112/) (2018)
- [AADS: Augmented Autonomous Driving Simulation using Data-driven Algorithms](https://mlsanity.com/paper/1901.07849/) (2019)
- [3D Instances as 1D Kernels](https://mlsanity.com/paper/2207.07372/) (2022)
- [Automated Synthetic-to-Real Generalization](https://mlsanity.com/paper/2007.06965/) (2020)
- [SmartRefine: A Scenario-Adaptive Refinement Framework for Efficient Motion Prediction](https://mlsanity.com/paper/2403.11492/) (2024)
- [Deformation and Correspondence Aware Unsupervised Synthetic-to-Real Scene Flow Estimation for Point Clouds](https://mlsanity.com/paper/2203.16895/) (2022)
- [Pre-training on Synthetic Driving Data for Trajectory Prediction](https://mlsanity.com/paper/2309.10121/) (2023)

## Abstract (arXiv)

Motion understanding is critical for ensuring safety and robustness in autonomous driving systems, driving increasing interest in motion prediction. A key challenge in this domain is the high cost associated with acquiring real-world motion labels. It is therefore ideal if we could transfer motion knowledge from synthetic data to real data. In this context, we explore the potential of synthetic-to-real translation for motion prediction (SRMP). However, the most used naive motion regression methods are notably sensitive to the synthetic-to-real domain shift, resulting in unreliable knowledge translation. To address this, we propose a novel approach integrating a motion knowledge translation framework with two key components: (1) objectness-aware motion prediction, which explicitly models the joint distribution of motion patterns and objectness priors to improve domain-invariant feature learning, and (2) objectness-aided motion enhancement, a motion label refinement mechanism that leverages learned objectness priors to filter motion noise. Furthermore, we present a physically-based pipeline for generating Motion4D, the first synthetic 4D LiDAR dataset tailored for SRMP research, addressing the lack of synthetic motion datasets. Experimental results demonstrate that our approach effectively bridges the domain gaps and yields superior performance on real scenes.