# Scalable Multi-modal Model Predictive Control via Duality-based Interaction Predictions

arXiv: https://arxiv.org/abs/2402.01116 · HTML: https://mlsanity.com/paper/2402.01116/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 33 references that are in the map.
- First posted on arXiv 2 Feb 2024.

## Builds on (most cited first, 16 of 16)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translation](https://mlsanity.com/paper/1406.1078/) (2014)
- [Convex optimization](https://mlsanity.com/paper/2106.01946/) (2021)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Social Attention for Autonomous Decision-Making in Dense Traffic](https://mlsanity.com/paper/1911.12250/) (2019)
- [MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control](https://mlsanity.com/paper/2009.07517/) (2020)
- [Deep Interactive Motion Prediction and Planning: Playing Games with Motion Prediction Models](https://mlsanity.com/paper/2204.02392/) (2022)
- [Interactive multi-modal motion planning with Branch Model Predictive Control](https://mlsanity.com/paper/2109.05128/) (2021)
- [Stochastic Model Predictive Control with a Safety Guarantee for Automated Driving: Extended Version](https://mlsanity.com/paper/2009.09381/) (2020)
- [Contingency Games for Multi-Agent Interaction](https://mlsanity.com/paper/2304.05483/) (2023)
- [A Semismooth Newton Method for Fast, Generic Convex Programming](https://mlsanity.com/paper/1705.00772/) (2017)
- [Collision Avoidance for Dynamic Obstacles with Uncertain Predictions using Model Predictive Control](https://mlsanity.com/paper/2208.03529/) (2022)
- [Predictive Control for Autonomous Driving with Uncertain, Multi-modal Predictions](https://mlsanity.com/paper/2310.20561/) (2023)
- [Facilitating Cooperative and Distributed Multi-Vehicle Lane Change Maneuvers](https://mlsanity.com/paper/2301.04316/) (2023)

## Abstract (arXiv)

We propose a hierarchical architecture designed for scalable real-time Model Predictive Control (MPC) in complex, multi-modal traffic scenarios. This architecture comprises two key components: 1) RAID-Net, a novel attention-based Recurrent Neural Network that predicts relevant interactions along the MPC prediction horizon between the autonomous vehicle and the surrounding vehicles using Lagrangian duality, and 2) a reduced Stochastic MPC problem that eliminates irrelevant collision avoidance constraints, enhancing computational efficiency. Our approach is demonstrated in a simulated traffic intersection with interactive surrounding vehicles, showcasing a 12x speed-up in solving the motion planning problem. A video demonstrating the proposed architecture in multiple complex traffic scenarios can be found here: https://youtu.be/-pRiOnPb9_c. GitHub: https://github.com/MPC-Berkeley/hmpc_raidnet