Jiangbei Yue, Dinesh Manocha, He Wang
Abstract
Trajectory prediction has been widely pursued in many fields, and many model-based and model-free methods have been explored. The former include rule-based, geometric or optimization-based models, and the latter are mainly comprised of deep learning approaches. In this paper, we propose a new method combining both methodologies based on a new Neural Differential Equation model. Our new model (Neural Social Physics or NSP) is a deep neural network within which we use an explicit physics model with learnable parameters. The explicit physics model serves as a strong inductive bias in modeling pedestrian behaviors, while the rest of the network provides a strong data-fitting capability in terms of system parameter estimation and dynamics stochasticity modeling. We compare NSP with 15 recent deep learning methods on 6 datasets and improve the state-of-the-art performance by 5.56%-70%. Besides, we show that NSP has better generalizability in predicting plausible trajectories in drastically different scenarios where the density is 2-5 times as high as the testing data. Finally, we show that the physics model in NSP can provide plausible explanations for pedestrian behaviors, as opposed to black-box deep learning. Code is available below.
