### CoverNet: Multimodal Behavior Prediction using Trajectory Sets. (arXiv:1911.10298v1 [cs.LG])

We present CoverNet, a new method for multimodal, probabilistic trajectory prediction in urban driving scenarios. Previous work has employed a variety of methods, including multimodal regression, occupancy maps, and 1-step stochastic policies. We instead frame the trajectory prediction problem as classification over a diverse set of trajectories. The size of this set remains manageable, due…