![]() These changes combined resolved 64% of all interventions caused by bad routing type. Also significantly improved per-lane routing type autolabeler. Improved lane guidance module to feed in long range routing "hints" to the network for which lanes ego needs to be in to reach its destination. Examples of improved cases include: turning when the turn lane is blocked by parked cars and avoiding turning into bus lanes. ![]() Improved turn performance in dense unstructured city environments. Improved ego's behavior near VRUs by measuring their probability of intersecting ego's path, based on their kinematic data, and preemptively decelerating when the estimated risk is high. Improved the decision to assert or yield for pedestrians at more crosswalks by evaluating multiple possible futures in the joint space of ego's actions and the pedestrian's response.
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