Human Trajectory Forecasting with Explainable Behavioral Uncertainty

While they provide many applications, e.g., social robots, self-driving excellent prediction accuracy, their black-box vehicles, etc (Bennewitz, Burgard, & Thrun, 2002; nature makes it difficult for humans to interpret Thrun, Burgard, & Fox, 2005), and therefore the learned underlying function. Comparatively, has been studied in areas from computer science, model-based methods are based on explicit systems physics, and mathematics to robotics and transportation parameterized as ordinary/partial/stochastic (Bendali-Braham, Weber, Forestier, differentiable equations (O/P/SDEs) (Dietrich Idoumghar, & Muller, 2021). Existing research et al., 2021) or rule-based systems (Helbing & largely falls into model-free and model-based Molnár, 1995). These models are explainable but methods. Model-free methods enjoy the strong less accurate in prediction (Yue, Manocha, & data-fitting capacity of data-driven models such Wang, 2022), as they do not benefit from training as statistical machine learning models (Wang, on data (or only on small amounts of data) Ondřej, & O'Sullivan, 2016b; Wang & O'Sullivan, and therefore are better fit in small data regime.