Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models
Filippos Christianos,Peter Karkus,Boris Ivanovic,Stefano V. Albrecht,Marco Pavone,Filippos Christianos,Peter Karkus,Boris Ivanovic,Stefano V. Albrecht,Marco Pavone
Reasoning with occluded traffic agents is a significant open challenge for planning for autonomous vehicles. Recent deep learning models have shown impressive results for predicting occluded agents based on the behaviour of nearby visible agents; however, as we show in experiments, these models are difficult to integrate into downstream planning. To this end, we propose Bi-Ievel Variational Occlus...
