Agent Prioritization with Interpretable Relation for Trajectory Prediction

Manh Huynh, Hengbo Ma, Gita Alaghband, Chiho Choi

Abstract: In this paper, we present a novel multi-agent trajectory prediction model, which discovers interpretable relations among agents and prioritize agent's motion. Different from existing approaches, our interpretable design is inspired by the fundamental navigation and motion functions of agent movements, which represent 'where' and 'how' the agents move in the scenes. Specifically, it generates the relation matrix, where each element indicates the motion impact from one to another. In addition, in highly interactive scenarios, one agent may implicitly gain higher priority to move, while the motion of other agents may be impacted by the prioritized agents with higher priority (e.g., a vehicle stopping or reducing its speed due to crossing pedestrians). Based on this intuition, we design a novel motion prioritization module to learn the agent motion priorities based on the inferred relation matrix. Then, a decoder is proposed to sequentially predict and iteratively update the future trajectories of each agent based on their priority orders and the learned relation structures. We first demonstrate the effectiveness of our prediction model on simulated Charged Particles dataset. Next, extensive evaluations are performed on commonly-used datasets for robot navigation, human-robot interactions, and autonomous agents: real-world NBA basketball and INTERACTION. Finally, we show that the proposed model outperforms other state-of-the-art relation based methods, and is capable to infer interpretable, meaningful relations among agents.

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