While the modeling of pair-wise relations has been widely studied in multi-agent interacting systems, its ability to capture higher-level and larger-scale group-wise activities is limited. In this paper, we propose a group-aware relational reasoning approach (named EvolveHypergraph) with explicit inference of the underlying dynamically evolving relational structures, and we demonstrate its effectiveness for multi-agent trajectory prediction. In addition to the edges between a pair of nodes (i.e., agents), we propose to infer hyperedges that adaptively connect multiple nodes to enable group-aware relational reasoning in an unsupervised manner without fixing the number of hyperedges. The proposed approach infers the dynamically evolving relation graphs and hypergraphs over time to capture the evolution of relations, which are used by the trajectory predictor to obtain future states. Moreover, we propose to regularize the smoothness of the relation evolution and the sparsity of the inferred graphs or hypergraphs, which effectively improves training stability and enhances the explainability of inferred relations. The proposed approach is validated on both synthetic crowd simulations and multiple real-world benchmark datasets. Our approach infers explainable, reasonable group-aware relations and achieves state-of-the-art performance in long-term prediction.

本文提出了一种群组感知的关系推理方法，命名为EvolveHypergraph，通过推断动态演化的关系来预测多智能体轨迹，该方法在多个数据集上得到了最先进的性能，并提高了推理关系的可解释性和稳定性。

EvolveHypergraph: 面向群体的动态关系推理预测轨迹