mlsanityData to 14 Oct 2026

Social Attention for Autonomous Decision-Making in Dense Traffic

arXiv 1911.12250 ↗First posted 27 Nov 2019cs.LG stat.MLcited by 39

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Cited by 20 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We study the design of learning architectures for behavioural planning in a dense traffic setting. Such architectures should deal with a varying number of nearby vehicles, be invariant to the ordering chosen to describe them, while staying accurate and compact. We observe that the two most popular representations in the literature do not fit these criteria, and perform badly on an complex negotiation task. We propose an attention-based architecture that satisfies all these properties and explicitly accounts for the existing interactions between the traffic participants. We show that this architecture leads to significant performance gains, and is able to capture interactions patterns that can be visualised and qualitatively interpreted. Videos and code are available at https://eleurent.github.io/social-attention/.

Key facts. Cited by 39 papers in the map (data through 14 Oct 2026). First posted on arXiv 27 Nov 2019.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 8; 2022: 9; 2023: 3; 2024: 8; 2025: 10; 2026: 1.

39 papers.

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  1. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 707
  2. 2025ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Drivingcited by 198
  3. 2022Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graphcited by 53
  4. 2025CarPlanner: Consistent Auto-regressive Trajectory Planning for Large-scale Reinforcement Learning in Autonomous Drivingcited by 34
  5. 2022Deep Interactive Motion Prediction and Planning: Playing Games with Motion Prediction Modelscited by 27
  6. 2022TrajGen: Generating Realistic and Diverse Trajectories with Reactive and Feasible Agent Behaviors for Autonomous Drivingcited by 23
  7. 2021A Safe Hierarchical Planning Framework for Complex Driving Scenarios based on Reinforcement Learningcited by 18
  8. 2022Control-Aware Prediction Objectives for Autonomous Drivingcited by 18
  9. 2021DQ-GAT: Towards Safe and Efficient Autonomous Driving with Deep Q-Learning and Graph Attention Networkscited by 13
  10. 2023Towards Socially Responsive Autonomous Vehicles: A Reinforcement Learning Framework with Driving Priors and Coordination Awarenesscited by 12
  11. 2025Dream to Drive with Predictive Individual World Modelcited by 11
  12. 2021Addressing Action Oscillations through Learning Policy Inertiacited by 9
27 more
  1. 2024HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environmentscited by 9
  2. 2022Multi-task Safe Reinforcement Learning for Navigating Intersections in Dense Trafficcited by 8
  3. 2022Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Driverscited by 7
  4. 2023Parameterized Decision-making with Multi-modal Perception for Autonomous Drivingcited by 7
  5. 2021Learning interaction rules from multi-animal trajectories via augmented behavioral modelscited by 5
  6. 2021Vision Transformer for Learning Driving Policies in Complex Multi-Agent Environmentscited by 5
  7. 2025Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectivescited by 5
  8. 2021A Reinforcement Learning Benchmark for Autonomous Driving in Intersection Scenarioscited by 4
  9. 2022A Survey on Explainable Reinforcement Learning: Concepts, Algorithms, Challengescited by 3
  10. 2022Don't Watch Me: A Spatio-Temporal Trojan Attack on Deep-Reinforcement-Learning-Augment Autonomous Drivingcited by 3
  11. 2025Embodied Navigation with Auxiliary Task of Action Description Predictioncited by 3
  12. 2024XRL-Bench: A Benchmark for Evaluating and Comparing Explainable Reinforcement Learning Techniquescited by 2
  13. 2025A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspectivecited by 2
  14. 2021Benchmarking Lane-changing Decision-making for Deep Reinforcement Learningcited by 1
  15. 2024Agent-Agnostic Centralized Training for Decentralized Multi-Agent Cooperative Drivingcited by 1
  16. 2021Spatially and Seamlessly Hierarchical Reinforcement Learning for State Space and Policy space in Autonomous Drivingcited by 0
  17. 2022Self-Awareness Safety of Deep Reinforcement Learning in Road Traffic Junction Drivingcited by 0
  18. 2024Scalable Multi-modal Model Predictive Control via Duality-based Interaction Predictionscited by 0
  19. 2024Training Adversarial yet Safe Agent to Characterize Safety Performance of Highly Automated Vehiclescited by 0
  20. 2024Demystifying the Physics of Deep Reinforcement Learning-Based Autonomous Vehicle Decision-Makingcited by 0
  21. 2024Structured Graph Network for Constrained Robot Crowd Navigation with Low Fidelity Simulationcited by 0
  22. 2024GITSR: Graph Interaction Transformer-based Scene Representation for Multi Vehicle Collaborative Decision-makingcited by 0
  23. 2025Multi-Agent Inverse Q-Learning from Demonstrationscited by 0
  24. 2025Sky-Drive: A Distributed Multi-Agent Simulation Platform for Human-AI Collaborative and Socially-Aware Future Transportationcited by 0
  25. 2025Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersectionscited by 0
  26. 2025An Uncertainty-Weighted Decision Transformer for Navigation in Dense, Complex Driving Scenarioscited by 0
  27. 2026HOLO-MPPI: Multi-Scenario Motion Planning via Hierarchical Policy Optimizationcited by 0