Learning Probabilistic Responsibility Allocations for Multi-Agent Interactions

Human behavior in interactive settings is shaped not only by individual objectives but also by shared constraints with others, such as safety. Understanding how people allocate responsibility, i.e., how much one deviates from their desired policy to accommodate others, can inform the design of socially compliant and trustworthy autonomous systems. In this work, we introduce a method for learning a probabilistic responsibility allocation model that captures the multimodal uncertainty inherent in multi-agent interactions. Specifically, our approach leverages the latent space of a conditional variational autoencoder, combined with techniques from multi-agent trajectory forecasting, to learn a distribution over responsibility allocations conditioned on scene and agent context. Although ground-truth responsibility labels are unavailable, the model remains tractable by incorporating a differentiable optimization layer that maps responsibility allocations to induced controls, which are available. We evaluate our method on the INTERACTION driving dataset and demonstrate that it not only achieves strong predictive performance but also provides interpretable insights, through the lens of responsibility, into patterns of multi-agent interaction.

Learning responsibility allocations for multi-agent interactions: A differentiable optimization approach with control barrier functions

From autonomous driving to package delivery, ensuring safe yet efficient multi-agent interaction is challenging as the interaction dynamics are influenced by hard-to-model factors such as social norms and contextual cues. Understanding these influences can aid in the design and evaluation of socially-aware autonomous agents whose behaviors are aligned with human values. In this work, we seek to codify factors governing safe multi-agent interactions via the lens of responsibility, i.e., an agent's willingness to deviate from their desired control to accommodate safe interaction with others. Specifically, we propose a data-driven modeling approach based on control barrier functions and differentiable optimization that efficiently learns agents' responsibility allocation from data. We demonstrate on synthetic and real-world datasets that we can obtain an interpretable and quantitative understanding of how much agents adjust their behavior to ensure the safety of others given their current environment.

MISFIT-V: Misaligned Image Synthesis and Fusion using Information from Thermal and Visual

Detecting humans from airborne visual and thermal imagery is a fundamental challenge for Wilderness Search-and-Rescue (WiSAR) teams, who must perform this function accurately in the face of immense pressure. The ability to fuse these two sensor modalities can potentially reduce the cognitive load on human operators and/or improve the effectiveness of computer vision object detection models. However, the fusion task is particularly challenging in the context of WiSAR due to hardware limitations and extreme environmental factors. This work presents Misaligned Image Synthesis and Fusion using Information from Thermal and Visual (MISFIT-V), a novel two-pronged unsupervised deep learning approach that utilizes a Generative Adversarial Network (GAN) and a cross-attention mechanism to capture the most relevant features from each modality. Experimental results show MISFIT-V offers enhanced robustness against misalignment and poor lighting/thermal environmental conditions compared to existing visual-thermal image fusion methods.