Reverberation: Learning the Latencies Before Forecasting Trajectories

Abstract: Bridging the past to the future, connecting agents both spatially and temporally, lies at the core of the trajectory prediction task. Despite great efforts, it remains challenging to explicitly learn and predict latencies, the temporal delays with which agents respond to different trajectory-changing events and adjust their future paths, whether on their own or interactively. Different agents may exhibit distinct latency preferences for noticing, processing, and reacting to any specific trajectory-changing event. The lack of consideration of such latencies may undermine the causal continuity of the forecasting system and also lead to implausible or unintended trajectories. Inspired by the reverberation curves in acoustics, we propose a new reverberation transform and the corresponding Reverberation (short for Rev) trajectory prediction model, which simulates and predicts different latency preferences of each agent as well as their stochasticity by using two explicit and learnable reverberation kernels, allowing for the controllable trajectory prediction based on these forecasted latencies. Experiments on multiple datasets, whether pedestrians or vehicles, demonstrate that Rev achieves competitive accuracy while revealing interpretable latency dynamics across agents and scenarios. Qualitative analyses further verify the properties of the proposed reverberation transform, highlighting its potential as a general latency modeling approach.