RIGHT-OF-WAY-BASED SEMANTIC COVERAGE AND AUTOMATIC LABELING FOR TRAJECTORY GENERATION IN AUTONOMOUS SYTEMS

Disclosed are embodiments for facilitating right-of-way-based semantic coverage and automatic labeling for trajectory generation in autonomous systems. In some aspects, an embodiment includes receiving a set of trajectories generated by a trajectory generation source, the set of trajectories generated for an autonomous vehicle (AV) interaction with a road agent; labeling a ground truth trajectory from the set of trajectories with a ground truth label; classifying each remaining trajectory of the set of trajectories as at least one of an assert trajectory or a yield trajectory; for an assert group comprising the assert trajectories, assigning an auxiliary assert label to the assert trajectory having a highest selection score; for a yield group comprising the yield trajectories, assigning an auxiliary yield label to the yield trajectory having a highest selection score; and utilizing the ground truth label, the auxiliary assert label, and the auxiliary yield label to train a trajectory generation model.