mlsanityData to 14 Oct 2026

Deception Game: Closing the Safety-Learning Loop in Interactive Robot Autonomy

arXiv 2309.01267 ↗First posted 3 Sep 2023cs.RO cs.AI cs.LGcited by 10

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Abstract (arXiv)

An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot's ability to learn and adapt at runtime, leading to overly conservative behavior. This paper proposes a new closed-loop paradigm for synthesizing safe control policies that explicitly account for the robot's evolving uncertainty and its ability to quickly respond to future scenarios as they arise, by jointly considering the physical dynamics and the robot's learning algorithm. We leverage adversarial reinforcement learning for tractable safety analysis under high-dimensional learning dynamics and demonstrate our framework's ability to work with both Bayesian belief propagation and implicit learning through large pre-trained neural trajectory predictors.

Key facts. Cited by 10 papers in the map (data through 14 Oct 2026). Builds on 33 of its 50 references that are in the map. First posted on arXiv 3 Sep 2023.

Builds on

33 of 50 references.

References · 33

  1. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,885
  2. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
  3. 2019Control Barrier Functions: Theory and Applicationscited by 372
  4. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 270
  5. 2017Hamilton-Jacobi Reachability: A Brief Overview and Recent Advancescited by 201
  6. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
  7. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Drivingcited by 141
  8. 2023MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Queryingcited by 140
  9. 2017On a Formal Model of Safe and Scalable Self-driving Carscited by 131
  10. 2022Safe Planning in Dynamic Environments using Conformal Predictioncited by 119
  11. 2020DeepReach: A Deep Learning Approach to High-Dimensional Reachabilitycited by 91
  12. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 64
21 more
  1. 2021Robust Control Barrier-Value Functions for Safety-Critical Controlcited by 51
  2. 2021Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learningcited by 49
  3. 2014Reach-Avoid Problems with Time-Varying Dynamics, Targets and Constraintscited by 44
  4. 2018Linear model predictive safety certification for learning-based controlcited by 37
  5. 2020When Humans Aren't Optimal: Robots that Collaborate with Risk-Aware Humanscited by 34
  6. 2022ISAACS: Iterative Soft Adversarial Actor-Critic for Safetycited by 28
  7. 2023Multi-Agent Reachability Calibration with Conformal Predictioncited by 25
  8. 2021Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perceptioncited by 23
  9. 2021Safety Assurances for Human-Robot Interaction via Confidence-aware Game-theoretic Human Modelscited by 21
  10. 2018Permissive Barrier Certificates for Safe Stabilization Using Sum-of-squarescited by 15
  11. 2022Online Update of Safety Assurances Using Confidence-Based Predictionscited by 15
  12. 2023Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approachcited by 15
  13. 2020Stochastic Model Predictive Control with a Safety Guarantee for Automated Driving: Extended Versioncited by 13
  14. 2022Parameter-Conditioned Reachable Sets for Updating Safety Assurances Onlinecited by 12
  15. 2022RAP: Risk-Aware Prediction for Robust Planningcited by 12
  16. 2023Contingency Games for Multi-Agent Interactioncited by 12
  17. 2018Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robotscited by 11
  18. 2022OptimizedDP: An Efficient, User-friendly Library For Optimal Control and Dynamic Programmingcited by 11
  19. 2020Inference-Based Strategy Alignment for General-Sum Differential Gamescited by 10
  20. 2021Analyzing Human Models that Adapt Onlinecited by 8
  21. 2022REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopescited by 4

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 7; 2025: 1; 2026: 2.

10 papers.

  1. 2025Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysiscited by 45
  2. 2024Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imaginationcited by 16
  3. 2024Human-AI Safety: A Descendant of Generative AI and Control Systems Safetycited by 7
  4. 2024Efficient Adaptation in Mixed-Motive Environments via Hierarchical Opponent Modeling and Planningcited by 7
  5. 2024MAGICS: Adversarial RL with Minimax Actors Guided by Implicit Critic Stackelberg for Convergent Neural Synthesis of Robot Safetycited by 7
  6. 2024Blending Data-Driven Priors in Dynamic Gamescited by 6
  7. 2024Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robotscited by 1
  8. 2026Permissive Safety Through Trusted Inference: Verifiable Belief-Space Neural Safety Filters for Assured Interactive Roboticscited by 1
  9. 2024Robots that Suggest Safe Alternativescited by 0
  10. 2026AI Coaching for Accelerating Human Skill Development with Reinforcement Learningcited by 0