進化する社会相互作用グラフによる軌道予測のための空間推論アダプタ
SRA: Spatial Reasoning Adapter via Evolving Social Interaction Graphs for Trajectory Prediction
拡散・フローマッチング型軌道予測器に組み込むグラフデノイザSRAを提案し、生成過程の各ステップで予測軌道から相互作用グラフを再構築して残差補正を行うことで、複数のデータセットとモデルで予測精度を改善した。
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著者: Jaewoo Jeong, Seonkyu Song, Hyeonwoo Park, Jegyeong Cho, Yujin Bae, Giwon Lee, Daehee Park, Kuk-Jin Yoon
分類: cs.CV
原文アブストラクト
Predicting where multiple agents will move next is fundamental to autonomous driving, robotics, and any system that must share space with people safely. Modern stochastic predictors read off inter-agent interactions once from the observed past and keep that view fixed throughout the generative rollout, so the reciprocal geometric constraints that emerge as the joint future sharpens are not re-examined. We address this gap with SRA (Spatial Reasoning Adapter), a modular graph denoiser that is integrated into existing diffusion and flow-matching predictors without redesigning their generative cores. At every reverse step, SRA reads the host's current future estimate, builds a sparse Euclidean interaction graph on the predicted trajectories, and returns a residual correction to the host's decoding path. Our adapter consists of three core components: a sparse neighborhood retrieved with a learned query-key score and a geometric bias, a future-conditioned relational feature recomputed on the evolving prediction, and uncertainty-weighted message passing where confident agents act as anchors for uncertain ones. We instantiate SRA on three structurally different hosts (LED, MID, and MoFlow) across four multi-agent benchmarks: SDD, NBA, Soccer, and Football. SRA improves ADE for every host on every dataset, with average gains of 5.8% in ADE and 7.0% in FDE. A cumulative ablation shows that the three components act as one mechanism: only together do they improve every host on every sports dataset, indicating that spatial reasoning over the model's own evolving future, weighted by how far that future can be trusted, is broadly useful across denoising architectures. Code is available at https://github.com/Jaewoo97/SRA.