HiVT: Hierarchical Vector Transformer for Multi-Agent Motion Prediction
Bibliographic record
Abstract
Accurately predicting the future motions of surrounding traffic agents is critical for the safety of autonomous ve-hicles. Recently, vectorized approaches have dominated the motion prediction community due to their capability of capturing complex interactions in traffic scenes. How-ever, existing methods neglect the symmetries of the prob-lem and suffer from the expensive computational cost, facing the challenge of making real-time multi-agent motion prediction without sacrificing the prediction performance. To tackle this challenge, we propose Hierarchical Vector Transformer (HiVT) for fast and accurate multi-agent motion prediction. By decomposing the problem into local con-text extraction and global interaction modeling, our method can effectively and efficiently model a large number of agents in the scene. Meanwhile, we propose a translation-invariant scene representation and rotation-invariant spa-tial learning modules, which extract features robust to the geometric transformations of the scene and enable the model to make accurate predictions for multiple agents in a single forward pass. Experiments show that HiVT achieves the state-of-the-art performance on the Argoverse motion forecasting benchmark with a small model size and can make fast multi-agent motion prediction.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".