# GIN: Graph-based Interaction-aware Constraint Policy Optimization for Autonomous Driving

arXiv: https://arxiv.org/abs/2206.01488 · HTML: https://mlsanity.com/paper/2206.01488/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in Cooperative and V2X driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 19 of its 35 references that are in the map.
- First posted on arXiv 3 Jun 2022.

## Placed in

- End-to-end autonomous driving / [Cooperative and V2X driving](https://mlsanity.com/driving/cooperative-and-v2x-driving/)

## Builds on (most cited first, 19 of 19)

- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Constrained Policy Optimization](https://mlsanity.com/paper/1705.10528/) (2017)
- [Reinforcement Learning with Deep Energy-Based Policies](https://mlsanity.com/paper/1702.08165/) (2017)
- [VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representation](https://mlsanity.com/paper/2005.04259/) (2020)
- [Reward Constrained Policy Optimization](https://mlsanity.com/paper/1805.11074/) (2018)
- [Risk-Constrained Reinforcement Learning with Percentile Risk Criteria](https://mlsanity.com/paper/1512.01629/) (2015)
- [Deep Reinforcement Learning framework for Autonomous Driving](https://mlsanity.com/paper/1704.02532/) (2017)
- [Convolutional Social Pooling for Vehicle Trajectory Prediction](https://mlsanity.com/paper/1805.06771/) (2018)
- [Multimodal Motion Prediction with Stacked Transformers](https://mlsanity.com/paper/2103.11624/) (2021)
- [Graph Convolutional Reinforcement Learning](https://mlsanity.com/paper/1810.09202/) (2018)
- [GRIP++: Enhanced Graph-based Interaction-aware Trajectory Prediction for Autonomous Driving](https://mlsanity.com/paper/1907.07792/) (2019)
- [Learning to Predict Vehicle Trajectories with Model-based Planning](https://mlsanity.com/paper/2103.04027/) (2021)
- [Combining Planning and Deep Reinforcement Learning in Tactical Decision Making for Autonomous Driving](https://mlsanity.com/paper/1905.02680/) (2019)
- [Worst Cases Policy Gradients](https://mlsanity.com/paper/1911.03618/) (2019)
- [Deep Reinforcement Learning for Autonomous Driving](https://mlsanity.com/paper/1811.11329/) (2018)
- [Intent-aware Multi-agent Reinforcement Learning](https://mlsanity.com/paper/1803.02018/) (2018)
- [Reinforcement Learning based Negotiation-aware Motion Planning of Autonomous Vehicles](https://mlsanity.com/paper/2107.03600/) (2021)

## Built on by (most cited first, 3 of 3)

- [Multi-Agent Inverse Reinforcement Learning in Real World Unstructured Pedestrian Crowds](https://mlsanity.com/paper/2405.16439/) (2024)
- [iPLAN: Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2306.06236/) (2023)
- [Game-Theoretic Risk-Shaped Reinforcement Learning for Safe Autonomous Driving](https://mlsanity.com/paper/2510.10960/) (2025)

## Abstract (arXiv)

Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing intentions of surrounding vehicles. This paper proposes a new policy optimization method for safe driving using graph-based interaction-aware constraints. In this framework, the motion prediction and control modules are trained simultaneously while sharing a latent representation that contains a social context. To reflect social interactions, we illustrate the movements of agents in graph form and filter the features with the graph convolution networks. This helps preserve the spatiotemporal locality of adjacent nodes. Furthermore, we create feedback loops to combine these two modules effectively. As a result, this approach encourages the learned controller to be safe from dynamic risks and renders the motion prediction robust to abnormal movements. In the experiment, we set up a navigation scenario comprising various situations with CARLA, an urban driving simulator. The experiments show state-of-the-art performance on navigation strategy and motion prediction compared to the baselines.