Tree-structured Policy Planning with Learned Behavior Models
Yuxiao Chen,Peter Karkus,Boris Ivanovic,Xinshuo Weng,Marco Pavone,Yuxiao Chen,Peter Karkus,Boris Ivanovic,Xinshuo Weng,Marco Pavone
Autonomous vehicles (AVs) need to reason about the multimodal behavior of neighboring agents while planning their own motion. Many existing trajectory planners seek a single trajectory that performs well under all plausible futures simultaneously, ignoring bi-directional interactions and thus leading to overly conservative plans. Policy planning, whereby the ego agent plans a policy that reacts to...
