通过筛选关键玩家,让多智能体博弈规划更快更实用。
A Player Selection Network for Scalable Game-Theoretic Prediction and Planning
- 用神经网络选出对决策影响大的玩家,缩小博弈规模。
- 在仿真和行人轨迹数据上,预测更准、规划更安全。
- 能处理目标未知场景,无需额外训练即可泛化。
尽管博弈论规划框架能有效建模多智能体交互,但其需解决变量随智能体数量增长的大型优化问题,导致计算时间过长,难以应用于大规模实时系统。为此,我们提出1)基于学习的博弈论预测与规划框架PSN Game,通过学习玩家选择网络(PSN)减少博弈规模;2)目标推断网络(GIN),使PSN可应用于其他智能体意图未知的不完全信息博弈中。PSN输出玩家选择掩码,区分关键与次要玩家,使自方仅需求解包含选中玩家的简化博弈。通过减少参与博弈的玩家数量,PSN缩小了对应优化问题,显著提升求解速度。在模拟场景与真实行人轨迹数据集上的实验表明,PSN在预测准确性和规划安全性方面均优于或相当甚至超越对比的显式博弈选择基线。不同场景下,PSN通常选取的玩家数远少于全量博弈中的数量,从而降低游戏规模与规划复杂度。通过GIN,PSN还能在智能体目标未知的设置中泛化,无需测试时微调。通过仅选择最相关玩家进行决策,PSN Game为降低规划复杂度提供了实用机制,可无缝集成至现有多智能体规划框架。
原文摘要 · Abstract (English)
While game-theoretic planning frameworks are effective at modeling multi-agent interactions, they require solving large optimization problems where the number of variables increases with the number of agents, resulting in long computation times that limit their use in large-scale, real-time systems. To address this issue, we propose 1) PSN Game-a learning-based, game-theoretic prediction and planning framework that reduces game size by learning a Player Selection Network (PSN); and 2) a Goal Inference Network (GIN) that makes it possible to use the PSN in incomplete-information games where other agents' intentions are unknown to the ego agent. A PSN outputs a player selection mask that distinguishes influential players from less relevant ones, enabling the ego player to solve a smaller, masked game involving only selected players. By reducing the number of players included in the game, PSN shrinks the corresponding optimization problems, leading to faster solve times. Experiments in both simulated scenarios and real-world pedestrian trajectory datasets show that PSN is competitive with, and often improves upon, the evaluated explicit game-theoretic selection baselines in 1) prediction accuracy and 2) planning safety. Across scenarios, PSN typically selects substantially fewer players than are present in the full game, thereby reducing game size and planning complexity. PSN also generalizes to settings in which agents' objectives are unknown, via the GIN, without test-time fine-tuning. By selecting only the most relevant players for decision-making, PSN Game provides a practical mechanism for reducing planning complexity that can be integrated into existing multi-agent planning frameworks.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。