Abstract: A computing system can receive motion prediction data from a vehicle, where the motion prediction data is generated by a motion prediction model executing on the vehicle. Based on the motion prediction data, the system can determine predicted trajectories for a plurality of entities in a surrounding environment of the vehicle. The system can evaluate a prediction performance of the motion prediction model by (i) matching, for each respective entity of the plurality of entities, a predicted endpoint of each predicted trajectory of the set of predicted trajectories to one or more underlying lanes of the road segment, (ii) matching a ground truth future position of the entity to one or more underlying lanes of the underlying lane topology, and (iii) determining a distance along one or more lane segments between the lane(s) matched to the predicted endpoint and the lane(s) matched to the ground truth future position.

Abstract: A method for insulating a pier and beam foundation on a structure, wherein the pier and beam foundation includes at least one floor joist, at least one pier, at least one beam, a side skirt, flooring, and plumbing including at least one pipe, may include applying a synthetic underlayment to the at least one floor joist and to a bottom surface of the flooring; laying a radiant insulation board end-to-end across the at least one floor joist, over the synthetic underlayment, and along the side skirt; and applying a tape to adjacent radiant insulation boards to seal joints there between. The method may also include wrapping the at least one pipe with spray foam, a foam pipe insulator, and duct tape.