Multi-agent Long-term 3D Human Pose Forecasting via Interaction-aware Trajectory Conditioning

Human pose forecasting garners attention for its diverse applications. However, challenges in modeling the multi-modal nature of human motion and intricate interactions among agents persist, particularly with longer timescales and more agents. In this paper, we propose an interaction-aware trajectory-conditioned long-term multi-agent human pose forecasting model, utilizing a coarse-to-fine prediction approach: multi-modal global trajectories are initially forecasted, followed by respective local pose forecasts conditioned on each mode. In doing so, our Trajectory2Pose model introduces a graph-based agent-wise interaction module for a reciprocal forecast of local motion-conditioned global trajectory and trajectory-conditioned local pose. Our model effectively handles the multi-modality of human motion and the complexity of long-term multi-agent interactions, improving performance in complex environments. Furthermore, we address the lack of long-term (6s+) multi-agent (5+) datasets by constructing a new dataset from real-world images and 2D annotations, enabling a comprehensive evaluation of our proposed model. State-of-the-art prediction performance on both complex and simpler datasets confirms the generalized effectiveness of our method. The code is available at https://github.com/Jaewoo97/T2P.

T4P: Test-Time Training of Trajectory Prediction via Masked Autoencoder and Actor-specific Token Memory

Trajectory prediction is a challenging problem that requires considering interactions among multiple actors and the surrounding environment. While data-driven approaches have been used to address this complex problem, they suffer from unreliable predictions under distribution shifts during test time. Accordingly, several online learning methods have been proposed using regression loss from the ground truth of observed data leveraging the auto-labeling nature of trajectory prediction task. We mainly tackle the following two issues. First, previous works underfit and overfit as they only optimize the last layer of the motion decoder. To this end, we employ the masked autoencoder (MAE) for representation learning to encourage complex interaction modeling in shifted test distribution for updating deeper layers. Second, utilizing the sequential nature of driving data, we propose an actor-specific token memory that enables the test-time learning of actor-wise motion characteristics. Our proposed method has been validated across various challenging cross-dataset distribution shift scenarios including nuScenes, Lyft, Waymo, and Interaction. Our method surpasses the performance of existing state-of-the-art online learning methods in terms of both prediction accuracy and computational efficiency. The code is available at https://github.com/daeheepark/T4P.

Improving Transferability for Cross-domain Trajectory Prediction via Neural Stochastic Differential Equation

Multi-agent trajectory prediction is crucial for various practical applications, spurring the construction of many large-scale trajectory datasets, including vehicles and pedestrians. However, discrepancies exist among datasets due to external factors and data acquisition strategies. External factors include geographical differences and driving styles, while data acquisition strategies include data acquisition rate, history/prediction length, and detector/tracker error. Consequently, the proficient performance of models trained on large-scale datasets has limited transferability on other small-size datasets, bounding the utilization of existing large-scale datasets. To address this limitation, we propose a method based on continuous and stochastic representations of Neural Stochastic Differential Equations (NSDE) for alleviating discrepancies due to data acquisition strategy. We utilize the benefits of continuous representation for handling arbitrary time steps and the use of stochastic representation for handling detector/tracker errors. Additionally, we propose a dataset-specific diffusion network and its training framework to handle dataset-specific detection/tracking errors. The effectiveness of our method is validated against state-of-the-art trajectory prediction models on the popular benchmark datasets: nuScenes, Argoverse, Lyft, INTERACTION, and Waymo Open Motion Dataset (WOMD). Improvement in performance gain on various source and target dataset configurations shows the generalized competence of our approach in addressing cross-dataset discrepancies.