Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models

Understand

Humans have a remarkable ability to make decisions by accurately reasoning about future events, including the future behaviors and states of mind of other agents.

• Consider driving a car through a busy intersection: it is necessary to reason about the physics of the vehicle, the intentions of other drivers, and their beliefs about your own intentions.
• If you signal a turn, another driver might yield to you, or if you enter the passing lane, another driver might decelerate to give you room to merge in front.
• Competent drivers must plan how they can safely react to a variety of potential future behaviors of other agents before they make their next move.