# Interpretable Interaction Modeling for Trajectory Prediction via Agent Selection and Physical Coefficient

arXiv: https://arxiv.org/abs/2405.13152 · HTML: https://mlsanity.com/paper/2405.13152/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 27 of its 38 references that are in the map.
- First posted on arXiv 21 May 2024.

## Builds on (most cited first, 27 of 27)

- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representation](https://mlsanity.com/paper/2005.04259/) (2020)
- [TNT: Target-driveN Trajectory Prediction](https://mlsanity.com/paper/2008.08294/) (2020)
- [The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems](https://mlsanity.com/paper/1810.05642/) (2018)
- [MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction](https://mlsanity.com/paper/2111.14973/) (2021)
- [INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps](https://mlsanity.com/paper/1910.03088/) (2019)
- [GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation](https://mlsanity.com/paper/2109.01827/) (2021)
- [MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying](https://mlsanity.com/paper/2306.17770/) (2023)
- [Leapfrog Diffusion Model for Stochastic Trajectory Prediction](https://mlsanity.com/paper/2303.10895/) (2023)
- [HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encoding](https://mlsanity.com/paper/2205.09753/) (2022)
- [NormFormer: Improved Transformer Pretraining with Extra Normalization](https://mlsanity.com/paper/2110.09456/) (2021)
- [M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction](https://mlsanity.com/paper/2202.11884/) (2022)
- [PiP: Planning-informed Trajectory Prediction for Autonomous Driving](https://mlsanity.com/paper/2003.11476/) (2020)
- [LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraints](https://mlsanity.com/paper/2302.13933/) (2023)
- [CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety Oriented Research and Digital Twins](https://mlsanity.com/paper/2208.11036/) (2022)
- [Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulation](https://mlsanity.com/paper/2104.11212/) (2021)
- [SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Driving](https://mlsanity.com/paper/2206.14116/) (2022)
- [BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Driving](https://mlsanity.com/paper/2312.06371/) (2023)
- [A Cognitive-Based Trajectory Prediction Approach for Autonomous Driving](https://mlsanity.com/paper/2402.19251/) (2024)
- [StarNet: Joint Action-Space Prediction with Star Graphs and Implicit Global Frame Self-Attention](https://mlsanity.com/paper/2111.13566/) (2021)
- [Self-Supervised Action-Space Prediction for Automated Driving](https://mlsanity.com/paper/2109.10024/) (2021)
- [Multimodal Manoeuvre and Trajectory Prediction for Automated Driving on Highways Using Transformer Networks](https://mlsanity.com/paper/2303.16109/) (2023)
- [Bridging the Gap Between Multi-Step and One-Shot Trajectory Prediction via Self-Supervision](https://mlsanity.com/paper/2306.03367/) (2023)
- [Conditional Unscented Autoencoders for Trajectory Prediction](https://mlsanity.com/paper/2310.19944/) (2023)
- [Trajectory Prediction with Observations of Variable-Length for Motion Planning in Highway Merging scenarios](https://mlsanity.com/paper/2306.05478/) (2023)
- [DiPA: Probabilistic Multi-Modal Interactive Prediction for Autonomous Driving](https://mlsanity.com/paper/2210.06106/) (2022)
- [A Novel Deep Neural Network for Trajectory Prediction in Automated Vehicles Using Velocity Vector Field](https://mlsanity.com/paper/2309.10948/) (2023)

## Built on by (most cited first, 1 of 1)

- [KoopCast: Trajectory Forecasting via Koopman Operators](https://mlsanity.com/paper/2509.15513/) (2025)

## Abstract (arXiv)

A thorough understanding of the interaction between the target agent and surrounding agents is a prerequisite for accurate trajectory prediction. Although many methods have been explored, they assign correlation coefficients to surrounding agents in a purely learning-based manner. In this study, we present ASPILin, which manually selects interacting agents and replaces the attention scores in Transformer with a newly computed physical correlation coefficient, enhancing the interpretability of interaction modeling. Surprisingly, these simple modifications can significantly improve prediction performance and substantially reduce computational costs. We intentionally simplified our model in other aspects, such as map encoding. Remarkably, experiments conducted on the INTERACTION, highD, and CitySim datasets demonstrate that our method is efficient and straightforward, outperforming other state-of-the-art methods.