Predicting future agent motions for dynamic environments

Fabio Previtali, Alejandro (Alex) Bordallo, Luca Iocchi, Subramanian Ramamoorthy

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Understanding activities of people in a monitored environment is a topic of active research, motivated by applications requiring context-awareness. Inferring future agent motion is useful not only for improving tracking accuracy, but also for planning in an interactive motion task. Despite rapid advances in the area of activity forecasting, many state-of-the-art methods are still cumbersome for use in realistic robots. This is due to the requirement of having good semantic scene and map labelling, as well as assumptions made regarding possible goals and types of motion. Many emerging applications require robots with modest sensory and computational ability to robustly perform such activity forecasting in high density and dynamic environments. We address this by combining a novel multi-camera tracking method, efficient multi-resolution representations of state and a standard Inverse Reinforcement Learning (IRL) technique, to demonstrate performance that is better than the state-of-the-art in the literature. In this framework, the IRL method uses agent trajectories from a distributed tracker and estimates a reward function within a Markov Decision Process (MDP) model. This reward function can then be used to estimate the agent’s motion in future novel task instances. We present empirical experiments using data gathered in our own lab and external corpora (VIRAT), based on which we find that our algorithm is not only efficiently implementable on a resource constrained platform but is also competitive in terms of accuracy with state-of-the-art alternatives (e.g., up to 20% better than the results reported in [1]).
Original languageEnglish
Title of host publication2016 15th IEEE International Conference on Machine Learning and Applications (ICMLA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-5090-6167-9
ISBN (Print)978-1-5090-6168-6
Publication statusPublished - 2 Feb 2017
Event15th IEEE International Conference on Machine Learning and Applications - Anaheim, United States
Duration: 18 Dec 201620 Jul 2018


Conference15th IEEE International Conference on Machine Learning and Applications
Abbreviated titleICMLA 2016
Country/TerritoryUnited States
Internet address


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