Chatting about Conditional Trajectory Prediction

TL;DR

This paper introduces CiT, a novel method for conditional trajectory prediction that models social interactions over time, incorporating the ego agent's motion for improved accuracy in human-robot interaction scenarios.

Contribution

The paper proposes a cross time domain intention-interactive approach that enhances trajectory prediction by integrating social interactions and ego agent motion, achieving state-of-the-art results.

Findings

CiT outperforms existing methods on benchmark datasets.

It effectively models social interactions over multiple time domains.

The method provides multiple trajectory options based on potential ego motions.

Abstract

Human behavior has the nature of mutual dependencies, which requires human-robot interactive systems to predict surrounding agents trajectories by modeling complex social interactions, avoiding collisions and executing safe path planning. While there exist many trajectory prediction methods, most of them do not incorporate the own motion of the ego agent and only model interactions based on static information. We are inspired by the humans theory of mind during trajectory selection and propose a Cross time domain intention-interactive method for conditional Trajectory prediction(CiT). Our proposed CiT conducts joint analysis of behavior intentions over time, and achieves information complementarity and integration across different time domains. The intention in its own time domain can be corrected by the social interaction information from the other time domain to obtain a more precise intention representation. In addition, CiT is designed to closely integrate with robotic motion planning and control modules, capable of generating a set of optional trajectory prediction results for all surrounding agents based on potential motions of the ego agent. Extensive experiments demonstrate that the proposed CiT significantly outperforms the existing methods, achieving state-of-the-art performance in the benchmarks.