Scene Induced Multi-Modal Trajectory Forecasting via Planning

2019-05-23 · Nachiket Deo, Mohan M. Trivedi

We address multi-modal trajectory forecasting of agents in unknown scenes by formulating it as a planning problem. We present an approach consisting of three models; a goal prediction model to identify potential goals of the agent, an inverse reinforcement learning model to plan optimal paths to each goal, and a trajectory generator to obtain future trajectories along the planned paths. Analysis of predictions on the Stanford drone dataset, shows generalizability of our approach to novel scenes.

📄 PDF Abstract BibTeX arXiv:1905.09949

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