Not yet reviewed by Pith; the record is open.

Accurate vehicle trajectory prediction is an unsolved problem in autonomous driving with various open research questions. State-of-the-art approaches regress trajectories either in a one-shot or step-wise manner. Although one-shot approaches are usually preferred for their simplicity, they relinquish powerful self-supervision schemes that can be constructed by chaining multiple time-steps. We address this issue by proposing a middle-ground where multiple trajectory segments are chained together. Our proposed Multi-Branch Self-Supervised Predictor receives additional training on new predictions starting at intermediate future segments. In addition, the model 'imagines' the latent context and 'predicts the past' while combining multi-modal trajectories in a tree-like manner. We deliberately keep aspects such as interaction and environment modeling simplistic and nevertheless achieve competitive results on the INTERACTION dataset. Furthermore, we investigate the sparsely explored uncertainty estimation of deterministic predictors. We find positive correlations between the prediction error and two proposed metrics, which might pave way for determining prediction confidence.