Instance-Aware Predictive Navigation in Multi-Agent Environments

  title={Instance-Aware Predictive Navigation in Multi-Agent Environments},
  author={Jinkun Cao and Xin Wang and Trevor Darrell and Fisher Yu},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  • Jinkun CaoXin Wang F. Yu
  • Published 14 January 2021
  • Computer Science
  • 2021 IEEE International Conference on Robotics and Automation (ICRA)
In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We propose an Instance-Aware Predictive Control (IPC) approach, which forecasts interactions between agents as well as future scene structures. We adopt a novel multi-instance event prediction module to estimate the possible interaction among agents in the ego… 
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