相关论文: Poly-Autoregressive Prediction for Modeling Intera…

Multiagent reinforcement learning, as a prominent intelligent paradigm, enables collaborative decision-making within complex systems. However, existing approaches often rely on explicit action exchange between agents to evaluate action…

In this paper, we address the problem of predicting the future motion of a dynamic agent (called a target agent) given its current and past states as well as the information on its environment. It is paramount to develop a prediction model…

Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…

Temporal prediction is critical for making intelligent and robust decisions in complex dynamic environments. Motion prediction needs to model the inherently uncertain future which often contains multiple potential outcomes, due to…

It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challenging due to the interaction and uncertainty in driving…

We propose a multiscale approach to time series autoregression, in which linear regressors for the process in question include features of its own path that live on multiple timescales. We take these multiscale features to be the recent…

Present bias, the tendency to overvalue immediate rewards while undervaluing future ones, is a well-known barrier to achieving long-term goals. As artificial intelligence and behavioral economics increasingly focus on this phenomenon, the…

Human drivers focus only on a handful of agents at any one time. On the other hand, autonomous driving systems process complex scenes with numerous agents, regardless of whether they are pedestrians on a crosswalk or vehicles parked on the…

Interactive driving scenarios, such as lane changes, merges and unprotected turns, are some of the most challenging situations for autonomous driving. Planning in interactive scenarios requires accurately modeling the reactions of other…

We study a repeated Principal Agent problem between a long lived Principal and Agent pair in a prior free setting. In our setting, the sequence of realized states of nature may be adversarially chosen, the Agent is non-myopic, and the…

To safely operate, an autonomous vehicle must know the future behavior of a potentially high number of interacting agents around it, a task often posed as multi-agent trajectory prediction. Many previous attempts to model social…

We consider the setting of an agent with a fixed body interacting with an unknown and uncertain external world. We show that models trained to predict proprioceptive information about the agent's body come to represent objects in the…

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…

As reinforcement learning agents become increasingly deployed in real-world scenarios, predicting future agent actions and events during deployment is important for facilitating better human-agent interaction and preventing catastrophic…

Many scenarios in mobility and traffic involve multiple different agents that need to cooperate to find a joint solution. Recent advances in behavioral planning use Reinforcement Learning to find effective and performant behavior…

An agent's intention often remains hidden behind the black-box nature of embodied policies. Communication using natural language statements that describe the next action can provide transparency towards the agent's behavior. We aim to…

Dynamic game theory is an increasingly popular tool for modeling multi-agent, e.g. human-robot, interactions. Game-theoretic models presume that each agent wishes to minimize a private cost function that depends on others' actions. These…

Before taking actions in an environment with more than one intelligent agent, an autonomous agent may benefit from reasoning about the other agents and utilizing a notion of a guarantee or confidence about the behavior of the system. In…

Accurate prediction of real-world pedestrian trajectories is crucial for a wide range of robot-related applications. Recent approaches typically adopt graph-based or transformer-based frameworks to model interactions. Despite their…

Multi-agent motion prediction is a crucial concern in autonomous driving, yet it remains a challenge owing to the ambiguous intentions of dynamic agents and their intricate interactions. Existing studies have attempted to capture…