{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/hierarchical-light-transformer-ensembles-for","title":"Hierarchical Light Transformer Ensembles for Multimodal Trajectory Forecasting","arxiv_id":"2403.17678","date":"2024-03-26","proceeding":null,"authors":["Adrien Lafage","Mathieu Barbier","Gianni Franchi","David Filliat"],"abstract":"Accurate trajectory forecasting is crucial for the performance of various systems, such as advanced driver-assistance systems and self-driving vehicles. These forecasts allow us to anticipate events that lead to collisions and, therefore, to mitigate them. Deep Neural Networks have excelled in motion forecasting, but overconfidence and weak uncertainty quantification persist. Deep Ensembles address these concerns, yet applying them to multimodal distributions remains challenging. In this paper, we propose a novel approach named Hierarchical Light Transformer Ensembles (HLT-Ens) aimed at efficiently training an ensemble of Transformer architectures using a novel hierarchical loss function. HLT-Ens leverages grouped fully connected layers, inspired by grouped convolution techniques, to capture multimodal distributions effectively. We demonstrate that HLT-Ens achieves state-of-the-art performance levels through extensive experimentation, offering a promising avenue for improving trajectory forecasting techniques.","url_abs":"https://arxiv.org/abs/2403.17678v3","url_pdf":"https://arxiv.org/pdf/2403.17678v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"hierarchical-light-transformer-ensembles-for","repo_url":"https://github.com/alafage/hlt-ens","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"motion-forecasting","task_name":"Motion Forecasting"},{"task_slug":"trajectory-forecasting","task_name":"Trajectory Forecasting"},{"task_slug":"uncertainty-quantification","task_name":"Uncertainty Quantification"}],"methods":[{"method_slug":"1x1-convolution","method_name":"1x1 Convolution"},{"method_slug":"absolute-position-encodings","method_name":"Absolute Position Encodings"},{"method_slug":"adam","method_name":"Adam"},{"method_slug":"attention","method_name":"Attention"},{"method_slug":"bpe","method_name":"BPE"},{"method_slug":"convolution","method_name":"Convolution"},{"method_slug":"deep-ensembles","method_name":"Deep Ensembles"},{"method_slug":"dense-connections","method_name":"Dense Connections"},{"method_slug":"dropout","method_name":"Dropout"},{"method_slug":"grouped-convolution","method_name":"Grouped Convolution"},{"method_slug":"label-smoothing","method_name":"Label Smoothing"},{"method_slug":"layer-normalization","method_name":"Layer Normalization"},{"method_slug":"linear-layer","method_name":"Linear Layer"},{"method_slug":"multi-head-attention","method_name":"Multi-Head Attention"},{"method_slug":"position-wise-feed-forward-layer","method_name":"Position-Wise Feed-Forward Layer"},{"method_slug":"residual-connection","method_name":"Residual Connection"},{"method_slug":"softmax","method_name":"Softmax"},{"method_slug":"transformer","method_name":"Transformer"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2403.17678","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}