LEADER: Learning Attention over Driving Behaviors for Planning under Uncertainty

Mohamad H. Danesh; Panpan Cai; David Hsu

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arXiv · 2209.11422

LEADER: Learning Attention over Driving Behaviors for Planning under Uncertainty

Mohamad H. Danesh·Panpan Cai·David Hsu

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Abstract

Uncertainty on human behaviors poses a significant challenge to autonomous driving in crowded urban environments. The partially observable Markov decision processes (POMDPs) offer a principled framework for planning under uncertainty, often leveraging Monte Carlo sampling to achieve online performance for complex tasks. However, sampling also raises safety concerns by potentially missing critical events. To address this, we propose a new algorithm, LEarning Attention over Driving bEhavioRs (LEADER), that learns to attend to critical human behaviors during planning. LEADER learns a neural network generator to provide attention over human behaviors in real-time situations. It integrates the attention into a belief-space planner, using importance sampling to bias reasoning towards critical events. To train the algorithm, we let the attention generator and the planner form a min-max game. By solving the min-max game, LEADER learns to perform risk-aware planning without human labeling.

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BibTeX RIS

Mohamad H. Danesh, Panpan Cai, David Hsu. 2022-10-29. LEADER: Learning Attention over Driving Behaviors for Planning under Uncertainty. https://arxiv.org/abs/2209.11422

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