相关论文: Blending Data-Driven Priors in Dynamic Games

We study a multi-agent decision problem in large population games. Agents from multiple populations select strategies for repeated interactions with one another. At each stage of these interactions, agents use their decision-making model to…

Reverse Kullback-Leibler (KL) divergence-based regularization with respect to a fixed reference policy is widely used in modern reinforcement learning to preserve the desired traits of the reference policy and sometimes to promote…

Dynamic games are powerful tools to model multi-agent decision-making, yet computing Nash (generalized Nash) equilibria remains a central challenge in such settings. Complexity arises from tightly coupled optimality conditions, nested…

With autonomous vehicles (AV) set to integrate further into regular human traffic, there is an increasing consensus on treating AV motion planning as a multi-agent problem. However, the traditional game-theoretic assumption of complete…

We study how to synthesize a robust and safe policy for autonomous systems under signal temporal logic (STL) tasks in adversarial settings against unknown dynamic agents. To ensure the worst-case STL satisfaction, we propose STLGame, a…

Multi-robot coordination often exhibits hierarchical structure, with some robots' decisions depending on the planned behaviors of others. While game theory provides a principled framework for such interactions, existing solvers struggle to…

We consider the task of building strong but human-like policies in multi-agent decision-making problems, given examples of human behavior. Imitation learning is effective at predicting human actions but may not match the strength of expert…

In this work, we develop a scalable, local trajectory optimization algorithm that enables robots to interact with other robots. It has been shown that agents' interactions can be successfully captured in game-theoretic formulations, where…

Although significant progress has been made in decision-making for automated driving, challenges remain for deployment in the real world. One challenge lies in addressing interaction-awareness. Most existing approaches oversimplify…

Many of the recent trajectory optimization algorithms alternate between linear approximation of the system dynamics around the mean trajectory and conservative policy update. One way of constraining the policy change is by bounding the…

Dynamic games are an effective paradigm for dealing with the control of multiple interacting actors. This paper introduces ALGAMES (Augmented Lagrangian GAME-theoretic Solver), a solver that handles trajectory-optimization problems with…

In multi-agent tasks, the central challenge lies in the dynamic adaptation of strategies. However, directly conditioning on opponents' strategies is intractable in the prevalent deep reinforcement learning paradigm due to a fundamental…

We propose a multi-agent based computational framework for modeling decision-making and strategic interaction at micro level for smart vehicles in a smart world. The concepts of Markov game and best response dynamics are heavily leveraged.…

Cooperatively planning for multiple agents has been proposed as a promising method for strategic and motion planning for automated vehicles. By taking into account the intent of every agent, the ego agent can incorporate future interactions…

Dynamic games are an effective paradigm for dealing with the control of multiple interacting actors. This paper introduces ALGAMES (Augmented Lagrangian GAME-theoretic Solver), a solver that handles trajectory optimization problems with…

As assembly tasks grow in complexity, collaboration among multiple robots becomes essential for task completion. However, centralized task planning has become inadequate for adapting to the increasing intelligence and versatility of robots,…

Learning in games provides a powerful framework to design control policies for self-interested agents that may be coupled through their dynamics, costs, or constraints. We consider the case where the dynamics of the coupled system can be…

In this work, we develop a game-theoretic modeling of the interaction between a human operator and an autonomous decision aid when they collaborate in a multi-agent task allocation setting. In this setting, we propose a decision aid that is…

Solving feedback Stackelberg games with nonlinear dynamics and coupled constraints, a common scenario in practice, presents significant challenges. This work introduces an efficient method for computing approximate local feedback…

Interaction-aware trajectory planning is crucial for closing the gap between autonomous racing cars and human racing drivers. Prior work has applied game theory as it provides equilibrium concepts for non-cooperative dynamic problems. With…