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MAVEN-T: Reinforced Heterogeneous Distillation for Real-Time Multi-Agent Trajectory Prediction

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Updated 2 h ago · first seen 11 Sept 2026

paper_01M294GNTSSZBERD8PCKS6WVW1

Published: 11 Sept 2026; T1 · 2 h ago
arXiv: 2604.10169; T1 · 2 h ago
Category: cs.AI; T1 · 2 h ago

Abstract

Trajectory prediction is a key component of autonomous driving systems because future motions directly affect collision checking, behavior planning, and control. The task remains challenging under dense interactions, heterogeneous behaviors, multimodal futures, and limited on-board computation. Existing graph, attention, and generative predictors improve interaction reasoning or uncertainty modeling, but their high-capacity designs are often costly for real-time deployment. Lightweight predictors and conventional distillation reduce inference cost, yet usually rely on static imitation and do not explicitly correct safety-relevant teacher bias. This paper proposes \textbf{MAVEN-T}, a reinforced heterogeneous distillation framework for real-time multi-agent trajectory prediction. A high-capacity teacher models directed local interactions with a surround-aware graph encoder, combines efficient temporal filtering with shifted-window spatial attention, and decodes maneuver-specific futures through a sparse Mixture-of-Experts head. A compact GRU--Squeeze-and-Excitation student with a Low-Rank Adapted policy head is trained by feature-, attention-, and semantic-level distillation. To align prediction with downstream behavior, the student is further refined by Proximal Policy Optimization rewards for collision avoidance, comfort, and progress, while a complexity-aware curriculum and Elastic Weight Consolidation stabilize stage-wise training. Experiments on NGSIM, HighD, MoCAD, Argoverse~2, and the Waymo Open Motion Dataset evaluate accuracy, efficiency, generalization, robustness, and closed-loop safety. The student achieves 6.2$\times$ parameter compression, 3.7$\times$ inference acceleration, and 14.6,ms latency on an NVIDIA Jetson AGX Orin while maintaining competitive accuracy.

Authors 4

Wenchang Duan, Zhenguo Gao, Jinguo Xian, Yi Shi

Specification

Official page: arxiv.org/abs/2604.10169
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: replace
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2604.10169
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.AI, cs.LG
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2604.10169
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.AI
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

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T19

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2 h ago

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9 claims · 9 properties

Official pageofficial_url1

Claim history for Official page
Value	Valid from → to	Status	Source	Confidence	Extractor
https://arxiv.org/abs/2604.10169	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Abstractabstract1

Claim history for Abstract
Value	Valid from → to	Status	Source	Confidence	Extractor
Trajectory prediction is a key component of autonomous driving systems because future motions directly affect collision checking, behavior planning, and control. The task remains challenging under dense interactions, heterogeneous behaviors, multimodal futures, and limited on-board computation. Existing graph, attention, and generative predictors improve interaction reasoning or uncertainty modeling, but their high-capacity designs are often costly for real-time deployment. Lightweight predictors and conventional distillation reduce inference cost, yet usually rely on static imitation and do not explicitly correct safety-relevant teacher bias. This paper proposes \textbf{MAVEN-T}, a reinforced heterogeneous distillation framework for real-time multi-agent trajectory prediction. A high-capacity teacher models directed local interactions with a surround-aware graph encoder, combines efficient temporal filtering with shifted-window spatial attention, and decodes maneuver-specific futures through a sparse Mixture-of-Experts head. A compact GRU--Squeeze-and-Excitation student with a Low-Rank Adapted policy head is trained by feature-, attention-, and semantic-level distillation. To align prediction with downstream behavior, the student is further refined by Proximal Policy Optimization rewards for collision avoidance, comfort, and progress, while a complexity-aware curriculum and Elastic Weight Consolidation stabilize stage-wise training. Experiments on NGSIM, HighD, MoCAD, Argoverse~2, and the Waymo Open Motion Dataset evaluate accuracy, efficiency, generalization, robustness, and closed-loop safety. The student achieves 6.2$\times$ parameter compression, 3.7$\times$ inference acceleration, and 14.6,ms latency on an NVIDIA Jetson AGX Orin while maintaining competitive accuracy.	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Arxiv announce typearxiv_announce_type1

Claim history for Arxiv announce type
Value	Valid from → to	Status	Source	Confidence	Extractor
replace	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

arXiv idarxiv_id1

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Value	Valid from → to	Status	Source	Confidence	Extractor
2604.10169	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Authorsauthors1

Claim history for Authors
Value	Valid from → to	Status	Source	Confidence	Extractor
Wenchang Duan, Zhenguo Gao, Jinguo Xian, Yi Shi	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Categoriescategories1

Claim history for Categories
Value	Valid from → to	Status	Source	Confidence	Extractor
cs.AI, cs.LG	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

PDFpdf_url1

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https://arxiv.org/pdf/2604.10169	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Primary categoryprimary_category1

Claim history for Primary category
Value	Valid from → to	Status	Source	Confidence	Extractor
cs.AI	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Publishedpublished_at1

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Value	Valid from → to	Status	Source	Confidence	Extractor
11 Sept 2026	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →

Source documents
Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.AI	feed	T1· Official	40 min ago	1

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