自我条件生成预测的主动交互感知 MPPI
Original title: Active Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
IndustryAI 61
Source: arXiv cs.ROPublish time unverified
arXiv:2608.21400v1 Announce Type: new Abstract: Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each other's reactions, making "what-if" reasoning essential for safe and efficient driving. To enable such an active interaction-aware behavior, we propose a planning framework that integrates an ego-conditioned generative autoregressive prediction model within Model Predictive Path Integral (MPPI) control.