Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles

by   Josiah P. Hanna, et al.

Recognising the goals or intentions of observed vehicles is a key step towards predicting the long-term future behaviour of other agents in an autonomous driving scenario. When there are unseen obstacles or occluded vehicles in a scenario, goal recognition may be confounded by the effects of these unseen entities on the behaviour of observed vehicles. Existing prediction algorithms that assume rational behaviour with respect to inferred goals may fail to make accurate long-horizon predictions because they ignore the possibility that the behaviour is influenced by such unseen entities. We introduce the Goal and Occluded Factor Inference (GOFI) algorithm which bases inference on inverse-planning to jointly infer a probabilistic belief over goals and potential occluded factors. We then show how these beliefs can be integrated into Monte Carlo Tree Search (MCTS). We demonstrate that jointly inferring goals and occluded factors leads to more accurate beliefs with respect to the true world state and allows an agent to safely navigate several scenarios where other baselines take unsafe actions leading to collisions.



There are no comments yet.


page 1


Integrating Planning and Interpretable Goal Recognition for Autonomous Driving

The ability to predict the intentions and driving trajectories of other ...

GRIT: Verifiable Goal Recognition for Autonomous Driving using Decision Trees

It is useful for autonomous vehicles to have the ability to infer the go...

Online Bayesian Goal Inference for Boundedly-Rational Planning Agents

People routinely infer the goals of others by observing their actions ov...

Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving

Knowing and predicting dangerous factors within a scene are two key comp...

Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulation

Simulation is a crucial tool for accelerating the development of autonom...

Anticipatory Counterplanning

In competitive environments, commonly agents try to prevent opponents fr...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.