MART: MultiscAle Relational Transformer Networks for Multi-agent Trajectory Prediction
<|reference_start|>MART: MultiscAle Relational Transformer Networks for Multi-agent Trajectory Prediction: Multi-agent trajectory prediction is crucial to autonomous driving and understanding the surrounding environment. Learning-based approaches for multi-agent trajectory prediction, such as primarily relying on graph neural networks, graph transformers, and hypergraph neural networks, have demonstrated outstanding performance on real-world datasets in recent years. However, the hypergraph transformer-based method for trajectory prediction is yet to be explored. Therefore, we present a MultiscAle Relational Transformer (MART) network for multi-agent trajectory prediction. MART is a hypergraph transformer architecture to consider individual and group behaviors in transformer machinery. The core module of MART is the encoder, which comprises a Pair-wise Relational Transformer (PRT) and a Hyper Relational Transformer (HRT). The encoder extends the capabilities of a relational transformer by introducing HRT, which integrates hyperedge features into the transformer mechanism, promoting attention weights to focus on group-wise relations. In addition, we propose an Adaptive Group Estimator (AGE) designed to infer complex group relations in real-world environments. Extensive experiments on three real-world datasets (NBA, SDD, and ETH-UCY) demonstrate that our method achieves state-of-the-art performance, enhancing ADE/FDE by 3.9%/11.8% on the NBA dataset. Code is available at https://github.com/gist-ailab/MART.<|reference_end|>
@article{lee2024mart:,
    title={MART: MultiscAle Relational Transformer Networks for Multi-agent
  Trajectory Prediction},
    author={Seongju Lee, Junseok Lee, Yeonguk Yu, Taeri Kim, Kyoobin Lee},
    journal={arXiv preprint arXiv:2407.21635},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.21635},
    primaryClass={cs.LG}
}