有限集合マルチモーダル軌道予測における目的地サポート復元
Destination Support Restoration for Finite-Set Multimodal Trajectory Prediction
歩行者周辺で動作するロボットの軌道予測において、オンライン更新で偏った目的地サンプルを再調整し、限られた予測候補集合の多様性を保つ手法DSRを提案。再学習なしで予測精度を改善。
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著者: Fengrui Liu, Jiajun Peng, Duo Peng, Feng Liu
分類: cs.RO, cs.AI
原文アブストラクト
Robots operating around pedestrians often reason over a finite set of predicted human futures. Repeated online updates can concentrate this limited prediction budget on dominant destinations and leave plausible alternatives underrepresented or absent, removing those alternatives from the finite representation available to downstream decision making. We introduce Destination Support Restoration (DSR), a causal post-selection operator that repairs destination support without retraining the host predictor or increasing the maintained set size. At a repair step, DSR evaluates a temporary destination-stratified candidate bank from the observed prefix, converts candidate evidence into integer target counts, protects representatives of active modes, and reallocates redundant surplus hypotheses to deficient modes. The maintained and returned sets retain exactly $N$ hypotheses, and DSR replaces at most $\lceilρN\rceil$ entries. Protected representatives preserve current categorical support; lineage-aware particle filters also preserve surviving resampling ancestors. Each replacement reduces the allocation mismatch to the evidence-driven target by one. On the complete 3,719-trajectory Edinburgh protocol over three seeds, DSR reduces MIF weighted ADE and FDE by 13.36% and 13.30% at $N=64$. Paired integrations with CLiFF, PPT, causal GDTS, Social Informer, and PECNet improve both metrics in every evaluated pair. These results show that finite-set support allocation is a useful prediction-side control point when a fixed hypothesis set serves as the interface to downstream systems.