No abstract

Forecasting the future trajectories of multiple agents is a core technology for human-robot interaction systems. To predict multi-agent trajectories more accurately, it is inevitable that models need to improve interpretability and reduce redundancy. However, many methods adopt implicit weight calculation or black-box networks to learn the semantic interaction of agents, which obviously lack enough interpretation. In addition, most of the existing works model the relation among all agents in a one-to-one manner, which might lead to irrational trajectory predictions due to its redundancy and noise. To address the above issues, we present Hypertron, a human-understandable and lightweight hypergraph-based multi-agent forecasting framework, to explicitly estimate the motions of multiple agents and generate reasonable trajectories. The framework explicitly interacts among multiple agents and learns their latent intentions by our coarse-to-fine hypergraph convolution interaction module. Our experiments on several challenging real-world trajectory forecasting datasets show that Hypertron outperforms a wide array of state-of-the-art methods while saving over 60% parameters and reducing 30% inference time.