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The paper introduces NaviAIS, a standardized scenario-level AIS dataset for vessel trajectory prediction with vectorized lane priors, and proposes NaviLane, a hierarchical macro-action forecasting framework that uses map-aware encoding and consequence-aware evaluation for multimodal trajectory prediction.
EnvShip-Bench is a new benchmark for short-term vessel trajectory prediction, built from large-scale AIS data with standardized protocols and environmental context extensions.