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Identifying Driver Interactions via Conditional Behavior Prediction

arXiv 2104.09959 ↗First posted 20 Apr 2021cs.ROcited by 48

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Abstract (arXiv)

Interactive driving scenarios, such as lane changes, merges and unprotected turns, are some of the most challenging situations for autonomous driving. Planning in interactive scenarios requires accurately modeling the reactions of other agents to different future actions of the ego agent. We develop end-to-end models for conditional behavior prediction (CBP) that take as an input a query future trajectory for an ego-agent, and predict distributions over future trajectories for other agents conditioned on the query. Leveraging such a model, we develop a general-purpose agent interactivity score derived from probabilistic first principles. The interactivity score allows us to find interesting interactive scenarios for training and evaluating behavior prediction models. We further demonstrate that the proposed score is effective for agent prioritization under computational budget constraints.

Key facts. Cited by 48 papers in the map (data through 14 Oct 2026). First posted on arXiv 20 Apr 2021.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 5; 2022: 13; 2023: 15; 2024: 8; 2025: 3; 2026: 4.

48 papers.

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  1. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 270
  2. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  3. 2023MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusioncited by 213
  4. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
  5. 2023MotionLM: Multi-Agent Motion Forecasting as Language Modelingcited by 156
  6. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Drivingcited by 141
  7. 2023MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Queryingcited by 140
  8. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  9. 2023DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Drivingcited by 46
  10. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40
  11. 2022Conditional Predictive Behavior Planning with Inverse Reinforcement Learning for Human-like Autonomous Drivingcited by 34
  12. 2022Safe Real-World Autonomous Driving by Learning to Predict and Plan with a Mixture of Expertscited by 29
36 more
  1. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  2. 2023WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecastingcited by 28
  3. 2023trajdata: A Unified Interface to Multiple Human Trajectory Datasetscited by 25
  4. 2021Injecting Planning-Awareness into Prediction and Detection Evaluationcited by 21
  5. 2022CausalAgents: A Robustness Benchmark for Motion Forecasting using Causal Relationshipscited by 18
  6. 2022MTR-A: 1st Place Solution for 2022 Waymo Open Dataset Challenge -- Motion Predictioncited by 17
  7. 2022StopNet: Scalable Trajectory and Occupancy Prediction for Urban Autonomous Drivingcited by 14
  8. 2021Rethinking Trajectory Forecasting Evaluationcited by 11
  9. 2023InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actionscited by 11
  10. 2023Editing Driver Character: Socially-Controllable Behavior Generation for Interactive Traffic Simulationcited by 10
  11. 2023Interactive Autonomous Navigation with Internal State Inference and Interactivity Estimationcited by 10
  12. 2022Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned Interactive Trajectory Predictioncited by 9
  13. 2021TIP: Task-Informed Motion Prediction for Intelligent Vehiclescited by 8
  14. 2022Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Predictioncited by 8
  15. 2024MoST: Multi-modality Scene Tokenization for Motion Predictioncited by 8
  16. 2023Learning Interaction-aware Motion Prediction Model for Decision-making in Autonomous Drivingcited by 6
  17. 2024FutureNet-LOF: Joint Trajectory Prediction and Lane Occupancy Field Prediction with Future Context Encodingcited by 6
  18. 2024Learning Online Belief Prediction for Efficient POMDP Planning in Autonomous Drivingcited by 5
  19. 2024Stochasticity in Motion: An Information-Theoretic Approach to Trajectory Predictioncited by 5
  20. 2023RESET: Revisiting Trajectory Sets for Conditional Behavior Predictioncited by 4
  21. 2024SceneMotion: From Agent-Centric Embeddings to Scene-Wide Forecastscited by 4
  22. 2024Motion Forecasting via Model-Based Risk Minimizationcited by 4
  23. 2022Conditional Goal-oriented Trajectory Prediction for Interacting Vehicles with Vectorized Representationcited by 3
  24. 2023FFINet: Future Feedback Interaction Network for Motion Forecastingcited by 3
  25. 2025Generative AI for Autonomous Driving: A Reviewcited by 3
  26. 2026ParkDiffusion++: Ego Intention Conditioned Joint Multi-Agent Trajectory Prediction for Automated Parking using Diffusion Modelscited by 3
  27. 2024FIMP: Future Interaction Modeling for Multi-Agent Motion Predictioncited by 2
  28. 2024MAP-Former: Multi-Agent-Pair Gaussian Joint Predictioncited by 2
  29. 2022ProspectNet: Weighted Conditional Attention for Future Interaction Modeling in Behavior Predictioncited by 1
  30. 2025RDAR: Reward-Driven Agent Relevance Estimation for Autonomous Drivingcited by 1
  31. 2022RTGNN: A Novel Approach to Model Stochastic Traffic Dynamicscited by 0
  32. 2023Graph-based Trajectory Prediction with Cooperative Informationcited by 0
  33. 2025Conditional Prediction by Simulation for Automated Drivingcited by 0
  34. 2026Digital-Twin Losses for Lane-Compliant Trajectory Prediction at Urban Intersectionscited by 0
  35. 2026Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddingscited by 0
  36. 2026Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidancecited by 0