arXiv:2605.11463cs.CV2026-05

通过模拟排练与返场,让模型学会预测不同主体的个性轨迹。

Encore: Conditioning Trajectory Forecasting via Biased Ego Rehearsals

  • 用有偏排练轨迹建模每个主体的独特行为倾向。
  • 在多个数据集上提升预测精度,且结果可解释。
  • 适合研究个性化行为建模与交互理解的学者。

在轨迹预测任务中,学习和表征智能体的主观性已成为一个关键挑战。这些主观性不仅具有特定的空间或时间结构,而且对所有交互参与者均呈现各向异性。尽管已有大量努力,仍难以显式学习并预测这些主观性,更不用说通过特定主体的主观性来调节模型预测。受心理学中的前事实思维及戏剧概念启发,我们将未来轨迹中的主观性解释为从排练到返场的连续过程。在排练阶段,提出的自车预测器专注于从短期观测中生成所有场景参与者的显式有偏排练轨迹;随后,这些排练轨迹作为即时控制信号,用于条件化最终预测,使预测网络能直接且区分性地模拟各智能体的主观性。跨数据集实验不仅一致提升了所提的Encore模型性能,还清晰揭示了主观性作为有偏自车排练的可解释性。

原文摘要 · Abstract (English)

Learning and representing the subjectivities of agents has become a challenging but crucial problem in the trajectory prediction task. Such subjectivities not only present specific spatial or temporal structures, but also are anisotropic for all interaction participants. Despite great efforts, it remains difficult to explicitly learn and forecast these subjectivities, let alone further modulate models' predictions through a specific ego's subjectivity. Inspired by prefactual thoughts in psychology and relevant theatrical concepts, we interpret such subjectivities in future trajectories as the continuous process from rehearsal to encore. In the rehearsal phase, the proposed ego predictor focuses on how each ego agent learns to derive and direct a set of explicitly biased rehearsal trajectories for all participants in the scene from the short-term observations. Then, these rehearsal trajectories serve as immediate controls to condition final predictions, providing direct yet distinct ego biases for the prediction network to simulate agents' various subjectivities. Experiments across datasets not only demonstrate a consistent improvement in the performance of the proposed \emph{Encore} trajectory prediction model but also provide clear interpretability regarding subjectivities as biased ego rehearsals.

轨迹预测主观性建模生成模型

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