arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2505.04480cs.AIcs.NEcs.RO
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TrajEvo:通过LLM驱动的进化设计轨迹预测启发式方法

TrajEvo: Designing Trajectory Prediction Heuristics via LLM-driven Evolution

KAIST(韩国科学技术院);OMELET;UC Riverside(加州大学河滨分校)

Zhikai Zhao, Chuanbo Hua, Federico Berto, Kanghoon Lee, Zihan Ma, Jiachen Li, Jinkyoo Park

AI总结:

TrajEvo利用LLM驱动的进化算法自动设计轨迹预测启发式方法,通过跨代精英采样和统计反馈循环提升性能,在ETH-UCY和SDD数据集上优于现有启发式与深度学习方法。

摘要:

轨迹预测是建模人类行为的一项关键任务,尤其是在社交机器人和自动驾驶汽车导航等领域。基于手工规则的传统启发式方法通常缺乏准确性,而最近提出的深度学习方法则面临计算成本高、缺乏可解释性以及泛化问题,这些限制了它们的实际应用。在本文中,我们介绍了TrajEvo,一个利用大型语言模型(LLMs)自动设计轨迹预测启发式方法的框架。TrajEvo采用进化算法从历史轨迹数据中生成并优化预测启发式方法。我们引入了跨代精英采样以促进种群多样性,并引入统计反馈循环,使LLM能够分析替代预测。我们的评估表明,TrajEvo在ETH-UCY数据集上优于先前的启发式方法,并且在泛化到未见过的SDD数据集时,显著优于启发式方法和深度学习方法。TrajEvo代表了朝着自动化设计快速、可解释且可泛化的轨迹预测启发式方法迈出的第一步。我们在https://github.com/ai4co/trajevo公开源代码,以促进未来研究。

英文摘要:

Trajectory prediction is a crucial task in modeling human behavior, especially in fields as social robotics and autonomous vehicle navigation. Traditional heuristics based on handcrafted rules often lack accuracy, while recently proposed deep learning approaches suffer from computational cost, lack of explainability, and generalization issues that limit their practical adoption. In this paper, we introduce TrajEvo, a framework that leverages Large Language Models (LLMs) to automatically design trajectory prediction heuristics. TrajEvo employs an evolutionary algorithm to generate and refine prediction heuristics from past trajectory data. We introduce a Cross-Generation Elite Sampling to promote population diversity and a Statistics Feedback Loop allowing the LLM to analyze alternative predictions. Our evaluations show TrajEvo outperforms previous heuristic methods on the ETH-UCY datasets, and remarkably outperforms both heuristics and deep learning methods when generalizing to the unseen SDD dataset. TrajEvo represents a first step toward automated design of fast, explainable, and generalizable trajectory prediction heuristics. We make our source code publicly available to foster future research at https://github.com/ai4co/trajevo.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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