Vehicles whose multimodal predictions are confident and concentrated are frozen early in a level-k game planner, reducing compute and modestly improving accuracy.
Dtpp: Differentiable joint conditional prediction and cost evaluation for tree policy planning in autonomous driving,
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Trajectory Entropy: Modeling Game State Stability from Multimodality Trajectory Prediction
Vehicles whose multimodal predictions are confident and concentrated are frozen early in a level-k game planner, reducing compute and modestly improving accuracy.