[readpaper] Learning to Predict Vehicle Trajectories with Model-based Planning

An energy-based model is a type of machine learning model that is based on the concept of energy. It is used for tasks such as image and speech recognition, natural language processing, and anomaly detection. The model is designed to learn the energy of a system, which is the sum of the energies of its parts. The energy-based model works by defining an energy function, which is a mathematical function that maps the inputs to a scalar value. The energy function is designed in such a way that it assigns low energies to the inputs that are likely to occur and high energies to the inputs that are unlikely to occur. The model then uses an optimization algorithm to minimize the energy function, which results in a set of parameters that can be used to predict the outputs. Energy-based models are known for their ability to handle complex data distributions and their ability to generalize to new data. They are also flexible, as the energy function can be designed to incorporate prior knowledge about the task. However, training an energy-based model can be challenging, as it requires a large amount of data and can be computationally expensive.