想像上のポテンシャルゲームによる分散マルチエージェント相互作用生成
Distributed Multi-agent Interaction Generation with Imagined Potential Games
各エージェントが他者の行動を推定しながら想像上の協力ゲームを解く分散型ポテンシャルゲームの枠組みを提案し、衝突回避と協調を両立する人間らしい相互作用を生成できることを示した。
著者: Lingfeng Sun, Pin-Yun Hung, Changhao Wang, Masayoshi Tomizuka, Zhuo Xu
分類: cs.RO, cs.MA
原文アブストラクト
Interactive behavior modeling of multiple agents is an essential challenge in simulation, especially in scenarios when agents need to avoid collisions and cooperate at the same time. Humans can interact with others without explicit communication and navigate in scenarios when cooperation is required. In this work, we aim to model human interactions in this realistic setting, where each agent acts based on its observation and does not communicate with others. We propose a framework based on distributed potential games, where each agent imagines a cooperative game with other agents and solves the game using its estimation of their behavior. We utilize iLQR to solve the games and closed-loop simulate the interactions. We demonstrate the benefits of utilizing distributed imagined games in our framework through various simulation experiments. We show the high success rate, the increased navigation efficiency, and the ability to generate rich and realistic interactions with interpretable parameters. Illustrative examples are available at https://sites.google.com/berkeley.edu/distributed-interaction.
