Destination Support Restoration for Finite-Set Multimodal Trajectory Prediction

2026-09-22

AI Summary

研究通过引入目的地支持恢复方法，解决机器人在行人周围操作时预测人类行为的有限集表示问题，无需重新训练或增加集大小。

Abstract

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.

Problem

• Finite-Set Prediction
• Multimodal Trajectory
• Destination Support
• Online Updates
• Prediction Budget

Innovation

• Destination Support Restoration
• causal post-selection operator
• finite-set prediction
• destination support repair
• trajectory prediction