Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are indispensable for intelligent mobile systems (like autonomous vehicles and social robots) to achieve safe and high-quality planning when they navigate in highly interactive and crowded scenarios. Due to the existence of frequent interactions and uncertainty in the scene evolution, it is desired for the prediction system to enable relational reasoning on different entities and provide a distribution of future trajectories for each agent. In this paper, we propose a generic generative neural system (called Social-WaGDAT) for multi-agent trajectory prediction, which makes a step forward to explicit interaction modeling by incorporating relational inductive biases with a dynamic graph representation and leverages both trajectory and scene context information. We also employ an efficient kinematic constraint layer applied to vehicle trajectory prediction which not only ensures physical feasibility but also enhances model performance. The proposed system is evaluated on three public benchmark datasets for trajectory prediction, where the agents cover pedestrians, cyclists and on-road vehicles. The experimental results demonstrate that our model achieves better performance than various baseline approaches in terms of prediction accuracy.

本文提出了一个通用的生成神经模型（称为Social-WaGDAT），通过引入关系归纳偏差和动态图表示，利用轨迹和场景上下文信息，提供每个代理的未来轨迹分布，从而在多代理轨迹预测中实现显式交互建模，并应用于车辆轨迹预测的运动学约束层，已在三个公共基准数据集上进行了评估和实验证明，相对于各种基线方法，该模型在预测准确性方面表现更佳。

Social-WaGDAT：基于Wasserstein双图注意力网络的交互感知轨迹预测