基于Transformer模型的多智能体轨迹预测无监督异常检测 / Unsupervised Anomaly Detection in Multi-Agent Trajectory Prediction via Transformer-Based Models
1️⃣ 一句话总结
这篇论文提出了一种基于Transformer的无监督异常检测框架,用于自动驾驶场景中识别传统方法难以捕捉的复杂多智能体交互风险,并通过双重评估验证了其检测结果的稳定性和物理危险性相关性。
Identifying safety-critical scenarios is essential for autonomous driving, but the rarity of such events makes supervised labeling impractical. Traditional rule-based metrics like Time-to-Collision are too simplistic to capture complex interaction risks, and existing methods lack a systematic way to verify whether statistical anomalies truly reflect physical danger. To address this gap, we propose an unsupervised anomaly detection framework based on a multi-agent Transformer that models normal driving and measures deviations through prediction residuals. A dual evaluation scheme has been proposed to assess both detection stability and physical alignment: Stability is measured using standard ranking metrics in which Kendall Rank Correlation Coefficient captures rank agreement and Jaccard index captures the consistency of the top-K selected items; Physical alignment is assessed through correlations with established Surrogate Safety Measures (SSM). Experiments on the NGSIM dataset demonstrate our framework's effectiveness: We show that the maximum residual aggregator achieves the highest physical alignment while maintaining stability. Furthermore, our framework identifies 388 unique anomalies missed by Time-to-Collision and statistical baselines, capturing subtle multi-agent risks like reactive braking under lateral drift. The detected anomalies are further clustered into four interpretable risk types, offering actionable insights for simulation and testing.
基于Transformer模型的多智能体轨迹预测无监督异常检测 / Unsupervised Anomaly Detection in Multi-Agent Trajectory Prediction via Transformer-Based Models
这篇论文提出了一种基于Transformer的无监督异常检测框架,用于自动驾驶场景中识别传统方法难以捕捉的复杂多智能体交互风险,并通过双重评估验证了其检测结果的稳定性和物理危险性相关性。
源自 arXiv: 2601.20367