Title: TrajTok: What makes for a good trajectory tokenizer in behavior generation?
Primary area: applications to robotics, autonomy, planning
Keywords: behavior generation, tokenizer, autonomous driving

Abstract: Behavior generation in autonomous driving aims to simulate dynamic driving scenarios from recorded driving logs. A popular approach is to apply next-token-prediction with discrete trajectory tokenization. In this work, we explore what makes a good trajectory tokenizer from the perspective of logged data usage. We first analyze the four properties (coverage, utilization, symmetry and robustness) of vocabularies of data-driven and rule-based trajectory tokenizers and their impact on performance and generalization. Data-driven tokenizers often build vocabularies with better utilization but suffer from insufficient coverage and sensitivity to noise, while rule-based methods have better coverage but contain too many useless tokens. With these insights, we propose TrajTok, a trajectory tokenizer that combines the two methods with rule-based vocabulary candidate setup and data-driven filtering and selection processes. The tokenizer has balanced coverage and utilization as well as good symmetry and robustness. Furthermore, we propose a spatial-aware label smoothing method for the cross-entropy loss to better model the similarities between the trajectory tokens. Our method wins first place in the 2025 Waymo Open Sim Agents Challenge.