mlsanityData to 7 Oct 2026

Online Intention Prediction via Control-Informed Learning

arXiv 2604.09303 ↗First posted 10 Apr 2026cs.RO cs.LG cs.SYcited by 0

Not on the map. Why?

Abstract (arXiv)

This paper presents an online intention prediction framework for estimating the goal state of autonomous systems in real time, even when intention is time-varying, and system dynamics or objectives include unknown parameters. The problem is formulated as an inverse optimal control / inverse reinforcement learning task, with the intention treated as a parameter in the objective. A shifting horizon strategy discounts outdated information, while online control-informed learning enables efficient gradient computation and online parameter updates. Simulations under varying noise levels and hardware experiments on a quadrotor drone demonstrate that the proposed approach achieves accurate, adaptive intention prediction in complex environments.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 14 of its 29 references that are in the map. First posted on arXiv 10 Apr 2026.

Builds on

14 of 29 references.

References · 14

  1. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  2. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  3. 2019Human Motion Trajectory Prediction: A Surveycited by 231
  4. 2022Model-Based Imitation Learning for Urban Drivingcited by 149
  5. 2020Spatiotemporal Relationship Reasoning for Pedestrian Intent Predictioncited by 71
  6. 2019Pontryagin Differentiable Programming: An End-to-End Learning and Control Frameworkcited by 48
  7. 2020Driving Behavior Modeling using Naturalistic Human Driving Data with Inverse Reinforcement Learningcited by 46
  8. 2019Imitation Learning for Human Pose Predictioncited by 44
  9. 2019Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMscited by 34
  10. 2020Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning with Application to Autonomous Drivingcited by 34
  11. 2019Modeling Multi-Vehicle Interaction Scenarios Using Gaussian Random Fieldcited by 9
  12. 2023A Data-Driven Approach for Inverse Optimal Controlcited by 3
2 more
  1. 2024Online Control-Informed Learningcited by 3
  2. 2025Safe Online Control-Informed Learningcited by 1

Built on by

Not cited yet.

Similar, not cited

Close in wording, no citation either way

  1. 2024Toward Information Theoretic Active Inverse Reinforcement Learning
  2. 2023Pilot Performance modeling via observer-based inverse reinforcement learning
  3. 2025Foresight in Motion: Reinforcing Trajectory Prediction with Reward Heuristics
  4. 2023Human-Like Implicit Intention Expression for Autonomous Driving Motion Planning: A Method Based on Learning Human Intention Priors
  5. 2019Scene Induced Multi-Modal Trajectory Forecasting via Planning ↗
  6. 2020Online inverse reinforcement learning with limited data
  7. 2018A Framework and Method for Online Inverse Reinforcement Learning
  8. 2022Basis for Intentions: Efficient Inverse Reinforcement Learning using Past Experience