mlsanityData to 14 Oct 2026

Conditional Prediction by Simulation for Automated Driving

arXiv 2502.03286 ↗First posted 5 Feb 2025cs.RO cs.CVcited by 0

On the map: End-to-end autonomous driving → Imitation-learning end-to-end planners

Abstract (arXiv)

Modular automated driving systems commonly handle prediction and planning as sequential, separate tasks, thereby prohibiting cooperative maneuvers. To enable cooperative planning, this work introduces a prediction model that models the conditional dependencies between trajectories. For this, predictions are generated by a microscopic traffic simulation, with the individual traffic participants being controlled by a realistic behavior model trained via Adversarial Inverse Reinforcement Learning. By assuming various candidate trajectories for the automated vehicle, we generate predictions conditioned on each of them. Furthermore, our approach allows the candidate trajectories to adapt dynamically during the prediction rollout. Several example scenarios are available at https://conditionalpredictionbysimulation.github.io/.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Imitation-learning end-to-end planners, one of 9 directions in End-to-end autonomous driving. Builds on 12 of its 17 references that are in the map. First posted on arXiv 5 Feb 2025.

Builds on

12 of 17 references.

References · 12

  1. 2017Attention Is All You Needcited by 60,361
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2017Proximal Policy Optimization Algorithmscited by 15,215
  4. 2015High-Dimensional Continuous Control Using Generalized Advantage Estimationcited by 2,026
  5. 2017Learning Robust Rewards with Adversarial Inverse Reinforcement Learningcited by 490
  6. 2019INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Mapscited by 231
  7. 2023MotionLM: Multi-Agent Motion Forecasting as Language Modelingcited by 156
  8. 2023MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Queryingcited by 140
  9. 2021Feedback in Imitation Learning: The Three Regimes of Covariate Shiftcited by 68
  10. 2021Identifying Driver Interactions via Conditional Behavior Predictioncited by 48
  11. 2023Tree-structured Policy Planning with Learned Behavior Modelscited by 24
  12. 2024SceneMotion: From Agent-Centric Embeddings to Scene-Wide Forecastscited by 4

Built on by

Not cited yet.

Similar, not cited

Close in wording, no citation either way

  1. 2022Conditional Predictive Behavior Planning with Inverse Reinforcement Learning for Human-like Autonomous Driving
  2. 2018Probabilistic Prediction of Interactive Driving Behavior via Hierarchical Inverse Reinforcement Learning
  3. 2021Objective-aware Traffic Simulation via Inverse Reinforcement Learning
  4. 2025RoaD: Rollouts as Demonstrations for Closed-Loop Supervised Fine-Tuning of Autonomous Driving Policies
  5. 2020Modeling Human Driving Behavior through Generative Adversarial Imitation Learning
  6. 2020Planning on the fast lane: Learning to interact using attention mechanisms in path integral inverse reinforcement learning
  7. 2023Integration of Reinforcement Learning Based Behavior Planning With Sampling Based Motion Planning for Automated Driving
  8. 2019Urban Driving with Conditional Imitation Learning