Reciprocal Twin Networks for Pedestrian Motion Learning and Future Path Prediction

Modeling the moving behaviors and predicting the future paths of pedestrians, especially for those in complex scenes, remain a challenging problem in machine learning. We recognize that human motion trajectories, governed by social norms and constrained by physical structures of the surrounding environment, are both forward predictable and backward predictable. Motivated by this observation, we develop a new approach, called reciprocal twin networks, for human trajectory learning and prediction. We design two networks, a forward prediction network to predict future trajectory from past observations and a backward prediction that performs the trajectory prediction backward in time. The backward prediction network serves as the inverse operation of the forward prediction network, forming a reciprocal constraint. During the training stage, this reciprocal constraint allows them to be jointly learned for accurate and robust human trajectory prediction. During the inference stage, we borrow the concept of adversarial attack of deep neural networks, which iteratively modifies the input of the network to match the given or forced network output, and develop a new method, called reciprocal attack for matched prediction, to achieve accurate human trajectory prediction. Our experimental results on benchmark datasets demonstrate that our new method outperforms the state-of-the-art methods for human trajectory prediction.