# EvolveHypergraph: Group-Aware Dynamic Relational Reasoning for Trajectory Prediction

arXiv: https://arxiv.org/abs/2208.05470 · HTML: https://mlsanity.com/paper/2208.05470/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 56 references that are in the map.
- First posted on arXiv 10 Aug 2022.

## Builds on (most cited first, 30 of 32)

- [Relational inductive biases, deep learning, and graph networks](https://mlsanity.com/paper/1806.01261/) (2018)
- [The Concrete Distribution: A Continuous Relaxation of Discrete Random Variables](https://mlsanity.com/paper/1611.00712/) (2016)
- [Learning to Simulate Complex Physics with Graph Networks](https://mlsanity.com/paper/2002.09405/) (2020)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [Interaction Networks for Learning about Objects, Relations and Physics](https://mlsanity.com/paper/1612.00222/) (2016)
- [CLEVRER: CoLlision Events for Video REpresentation and Reasoning](https://mlsanity.com/paper/1910.01442/) (2019)
- [TNT: Target-driveN Trajectory Prediction](https://mlsanity.com/paper/2008.08294/) (2020)
- [Neural Relational Inference for Interacting Systems](https://mlsanity.com/paper/1802.04687/) (2018)
- [AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting](https://mlsanity.com/paper/2103.14023/) (2021)
- [Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction](https://mlsanity.com/paper/2002.11927/) (2020)
- [It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Prediction](https://mlsanity.com/paper/2004.02025/) (2020)
- [Human Motion Trajectory Prediction: A Survey](https://mlsanity.com/paper/1905.06113/) (2019)
- [Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networks](https://mlsanity.com/paper/1907.03395/) (2019)
- [Convolutional Social Pooling for Vehicle Trajectory Prediction](https://mlsanity.com/paper/1805.06771/) (2018)
- [Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Prediction](https://mlsanity.com/paper/2005.08514/) (2020)
- [Social Attention: Modeling Attention in Human Crowds](https://mlsanity.com/paper/1710.04689/) (2017)
- [Transformer Networks for Trajectory Forecasting](https://mlsanity.com/paper/2003.08111/) (2020)
- [UniGNN: a Unified Framework for Graph and Hypergraph Neural Networks](https://mlsanity.com/paper/2105.00956/) (2021)
- [Human Trajectory Forecasting in Crowds: A Deep Learning Perspective](https://mlsanity.com/paper/2007.03639/) (2020)
- [GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoning](https://mlsanity.com/paper/2204.08770/) (2022)
- [You are AllSet: A Multiset Function Framework for Hypergraph Neural Networks](https://mlsanity.com/paper/2106.13264/) (2021)
- [DRG: Dual Relation Graph for Human-Object Interaction Detection](https://mlsanity.com/paper/2008.11714/) (2020)
- [Core Challenges of Social Robot Navigation: A Survey](https://mlsanity.com/paper/2103.05668/) (2021)
- [Visual Interaction Networks](https://mlsanity.com/paper/1706.01433/) (2017)
- [Conditional Generative Neural System for Probabilistic Trajectory Prediction](https://mlsanity.com/paper/1905.01631/) (2019)
- [A Comprehensive Survey on Community Detection with Deep Learning](https://mlsanity.com/paper/2105.12584/) (2021)
- [GroupFormer: Group Activity Recognition with Clustered Spatial-Temporal Transformer](https://mlsanity.com/paper/2108.12630/) (2021)
- [Spatio-Temporal Dynamic Inference Network for Group Activity Recognition](https://mlsanity.com/paper/2108.11743/) (2021)
- [RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting](https://mlsanity.com/paper/2108.01316/) (2021)
- [Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecasting](https://mlsanity.com/paper/2109.14128/) (2021)

## Built on by (most cited first, 10 of 10)

- [Hypergraph Neural Networks through the Lens of Message Passing: A Common Perspective to Homophily and Architecture Design](https://mlsanity.com/paper/2310.07684/) (2023)
- [Inferring Latent Temporal Sparse Coordination Graph for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2403.19253/) (2024)
- [TrajEvo: Designing Trajectory Prediction Heuristics via LLM-driven Evolution](https://mlsanity.com/paper/2505.04480/) (2025)
- [Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectives](https://mlsanity.com/paper/2505.09074/) (2025)
- [TrajEvo: Trajectory Prediction Heuristics Design via LLM-driven Evolution](https://mlsanity.com/paper/2508.05616/) (2025)
- [Learning Efficient Surrogate Dynamic Models with Graph Spline Networks](https://mlsanity.com/paper/2310.16397/) (2023)
- [Recent Advances in Multi-Agent Human Trajectory Prediction: A Comprehensive Review](https://mlsanity.com/paper/2506.14831/) (2025)
- [Hierarchical Message-Passing Policies for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2507.23604/) (2025)
- [EvoNav: Evolutionary Reward Function Design for Robot Navigation with Large Language Models](https://mlsanity.com/paper/2605.11859/) (2026)
- [Semantic and Articulated Pedestrian Sensing Onboard a Moving Vehicle](https://mlsanity.com/paper/2309.06313/) (2023)

## Abstract (arXiv)

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.