Motion TRansformer (MTR): a new framework for motion prediction in autonomous driving scenarios

Motion TRansformer (MTR): a new framework for motion prediction in autonomous driving scenarios

Modern autonomous driving systems rely heavily on motion predictions. It has attracted more attention since understanding driving environments and making safe decisions are essential for robotic cars. Motion prediction requires anticipating the future actions of traffic participants by combining observed states of agents and road maps, which is difficult due to the agent’s intrinsic multimodal behaviors and the diversity of scene environments. Existing approaches mainly fall into two categories to cover all possible future actions of the agent: goal-based methods and direct regression methods.

Instead of employing objective candidates, forward regression algorithms anticipate a set of trajectories based on the encoded agent characteristic, adaptively covering the agent’s future behavior. Objective-based approaches use dense objective candidates to protect all possible agent destinations, estimating the probability that each candidate is a true destination, and then completing the full trajectory for each selected candidate. Although these target candidates reduce the optimization load of the model by minimizing the trajectory uncertainty, their density greatly influences their performance: fewer candidates reduce performance, while more candidates significantly increase computational and memory costs.

Despite their versatility in predicting a wide range of agent behaviors, they often converge slowly because different movement modes must be regressed from the same agent feature without using spatial priors. They also tend to predict the most common methods of training data since these frequent modes dominate the optimization of agent functionality. They provide a unified framework, Motion TRansformer (MTR), in this research that combines the best of both types of approaches. They use a small collection of innovative motion question pairs in our proposed MTR to describe motion prediction as the combined optimization of two tasks: the first global intention localization goal attempts to identify the intention of an agent to maximize efficiency. On the other hand, the second work of local movement refinement aims to revise the anticipated trajectory of each intention to optimize the precision in an adaptive way. Their method stabilizes the training process without relying on dense objective candidates and enables flexible and adaptable prediction by allowing local refinement for each movement mode. Each motion query pair consists of two parts: a static intent query and a dynamic search query.

They present static intent queries for global intent location, where they formulate them based on a small number of geographically dispersed intent locations. Each static intent query is the learnable positional integration of an intent point to generate the trajectory of a specific mode of motion. It not only stabilizes the training process by explicitly using different queries in different ways, but also eliminates reliance on dense goal candidates by requiring each query to support a large region. Dynamic search queries are used to refine local movements; they are also initialized as learnable embodiments of the intent points, but they are responsible for retrieving the fine-grained regional features surrounding each intent point.

Dynamic search queries are dynamically modified based on expected trajectories for this purpose, adaptively obtaining current trajectory information from a local deformable region for iterative motion refinement. These two questions are complementary and successfully predicted the future multimodal movement. Moreover, they offer a dense future prediction module. Existing studies mainly focus on simulating the interaction of agents on previous trajectories while neglecting the interaction on future paths. To compensate for this information, they use a simple auxiliary regression head to densely predict each agent’s future trajectory and velocity, which is stored under different future context characteristics to help our interested agent’s future motion prediction. Experiments demonstrate that this essential ancillary task works efficiently and significantly improves multimodal motion prediction capability.

They make three contributions:

  1. They present a novel motion decoder network with a unique motion query pair notion, which models motion prediction as a simultaneous optimization of global intent localization and local motion refinement. It stabilizes training with mode-specific motion query pairs and enables adaptive motion refinement by repeatedly accumulating fine-grained trajectory information.
  2. They provide dense future prediction ancillary work to enable our interested agents to engage with other agents in the future. This facilitates our approach to predicting more scene-consistent trajectories for interacting agents.
  3. These methodologies offer the MTR framework for multimodal motion prediction, which studies the encoder-decoder structure of the transformer.

Their technique outperforms previous best ensemble-free approaches on the Waymo Open Motion Dataset (WOMD) marginal and joint motion prediction benchmarks, with +8.48% mAP gains for marginal motion prediction and + 7.98% mAP increases for standard motion prediction. Since May 19, 2022, our technique has been ranked first in the WOMD rankings for predicting marginal and joint movements. The code implementation will soon be published on their GitHub page.

This Article is written as a research summary article by Marktechpost Staff based on the research paper 'Motion Transformer with Global Intention Localization and Local Movement Refinement'. All Credit For This Research Goes To Researchers on This Project. Check out the paper and github.

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