相关论文: Trajectory Entropy: Modeling Game State Stability …

To accurately predict trajectories in multi-agent settings, e.g. team games, it is important to effectively model the interactions among agents. Whereas a number of methods have been developed for this purpose, existing methods implicitly…

Conventional maneuver prediction methods use some sort of classification model on temporal trajectory data to predict behavior of agents over a set time horizon. Despite of having the best precision and recall, these models cannot predict a…

Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions among agents. While game-theoretic methods are widely…

Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-modality and behavioral uncertainties are engaged. Existing…

Simplicity is a critical inductive bias for designing data-driven controllers, especially when robustness is important. Despite the impressive results of deep reinforcement learning in complex control tasks, it is prone to capturing…

In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another's behavior. Trajectory games capture these complex effects by design. In competitive…

Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…

Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable…

Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…

We present a novel algorithm for game-theoretic trajectory planning, tailored for settings in which agents can only observe one another in specific regions of the state space. Such problems arise naturally in the context of multi-robot…

Multi-agent interacting systems are prevalent in the world, from pure physical systems to complicated social dynamic systems. In many applications, effective understanding of the situation and accurate trajectory prediction of interactive…

For prediction of interacting agents' trajectories, we propose an end-to-end trainable architecture that hybridizes neural nets with game-theoretic reasoning, has interpretable intermediate representations, and transfers to downstream…

Work zone navigation remains one of the most challenging manoeuvres for autonomous vehicles (AVs), where constrained geometries and unpredictable traffic patterns create a high-risk environment. Despite extensive research on AV trajectory…

Trajectory planning is a fundamental problem in robotics. It facilitates a wide range of applications in navigation and motion planning, control, and multi-agent coordination. Trajectory planning is a difficult problem due to its…

Predicting the future behavior of moving agents is essential for real world applications. It is challenging as the intent of the agent and the corresponding behavior is unknown and intrinsically multimodal. Our key insight is that for…

In many multi-agent systems, agents interact repeatedly and are expected to settle into stable, rational behavior over time. Yet in practice, behavior often drifts, and detecting such deviations in real time remains an open challenge. We…

This paper proposes a method for modeling human driver interactions that relies on multi-output gaussian processes. The proposed method is developed as a refinement of the game theoretical hierarchical reasoning approach called "level-k…

In a typical traffic scenario, autonomous vehicles are required to share the road with other road participants, e.g., human driven vehicles, pedestrians, etc. To successfully navigate the traffic, a cognitive hierarchy theory such as…

As Reinforcement Learning (RL) agents are increasingly deployed in real-world applications, ensuring their behavior is transparent and trustworthy is paramount. A key component of trust is explainability, yet much of the work in Explainable…

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…