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Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios in which a robot’s actions impact the decisions of other agents and vice versa. The resulting contingency game allows the robot to efficiently interact with other agents by generating strategic motion plans conditioned on multiple possible intents for other actors in the scene. Contingency games are parameterized via a scalar variable which represents a future time when intent uncertainty will be resolved. By estimating this parameter online, we construct a game-theoretic motion planner that adapts to changing beliefs while anticipating future certainty. We show that existing variants of game-theoretic planning under uncertainty are readily obtained as special cases of contingency games. Through a series of simulated autonomous driving scenarios, we demonstrate that contingency games close the gap between certainty-equivalent games that commit to a single hypothesis and non-contingent multi-hypothesis games that do not account for future uncertainty reduction.
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Using Computational Models to Test Syntactic Learnability
We studied the learnability of English filler-gap dependencies and the “island” constraints on them by assessing the generalizations made by autoregressive (incremental) language models that use deep learning to predict the next word given preceding context. Using factorial tests inspired by experimental psycholinguistics, we found that models acquire not only the basic contingency between fillers and gaps, but also the unboundedness and hierarchical constraints implicated in the dependency. We evaluated a model’s acquisition of island constraints by demonstrating that its expectation for a filler-gap contingency is attenuated within an island environment. Our results provide empirical evidence against the argument from the poverty of the stimulus for this particular structure.
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- Award ID(s):
- 2121074
- PAR ID:
- 10488147
- Publisher / Repository:
- MIT Press
- Date Published:
- Journal Name:
- Linguistic Inquiry
- ISSN:
- 0024-3892
- Page Range / eLocation ID:
- 1 to 44
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1162/ling_a_00491
