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Existing reinforcement learning-based methods generally directly incorporate the predicted human intents into the observation to enable a proactive planning. However, human intent is inherently uncertain due to the behavioral diversity, perception noise, and partial observability. Treating predicted intends as deterministic states can result in unsafe decisions for autonomous vehicles. To address this problem, we propose Uncertainty-Aware Motion Planning (UAMP), which incorporates uncertainty in human intent prediction for AV decision-making. Specifically, UAMP first introduces a proximity-aware uncertainty estimator to quantify the interaction-conditioned intent uncertainty and constructs an uncertainty-guided joint intent distribution ov","title":"Uncertainty-Aware Motion Planning for Autonomous Driving in Mixed Traffic Environment","url":"https://arxiv.org/abs/2606.09958","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.09958v1 Announce Type: cross \nAbstract: In mixed-traffic environments where autonomous and human-driven vehicles may co-exist, motion planning for autonomous vehicles requires anticipating the future behaviors of surrounding human drivers. Existing reinforcement learning-based methods generally directly incorporate the predicted human intents into the observation to enable a proactive planning. However, human intent is inherently uncertain due to the behavioral diversity, perception noise, and partial observability. Treating predicted intends as deterministic states can result in unsafe decisions for autonomous vehicles. To address this problem, we propose Uncertainty-Aware Motion Planning (UAMP), which incorporates uncertainty in human intent prediction for AV decision-making. Specifically, UAMP first introduces a proximity-aware uncertainty estimator to quantify the interaction-conditioned intent uncertainty and constructs an uncertainty-guided joint intent distribution ov","title":"Uncertainty-Aware Motion Planning for Autonomous Driving in Mixed Traffic Environment","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-10T04:43:37Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.09958"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:f3722f7b41e5a17fab2e85c3c3c9612376ef187c3ae41aed573f0ac54b818d40c9e1af4f2d695e1621b20d9e1813c0515ef12915c45fe46e311f6a7b4f74ab0c","signer":"crovia.substrate","subject":{"observed_at":"2026-06-10T04:43:37Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.09958"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"88a9b95b62c39845f1d0929db1302286113b8408ed3f927742c6ddef04fb6187","leaf_index":225961,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"c0135e3ba7193086889afea07563f309c5cbb21ac8e811938b29afb3a3059067","side":"left"},{"sibling":"e6e6d1893b705b4e091a7e9ce76767613e8e5330fd921804911acd8152ff101a","side":"right"},{"sibling":"0dad750a89a4a15d4c72796887d66d33a1d41b1367be2cdfc6171ec68985b140","side":"right"},{"sibling":"6a9d3504e13d6749b5f5a97e8d719fc0237dd8713e6ed6931d5283d10e281e11","side":"left"},{"sibling":"1db2cab8f6f86a281b99c5696b860779eff42ea5eb2e1889c523350ca4b150dd","side":"right"},{"sibling":"3abbe488889fe216f7992fdb1a7874579deeb56eb346f6223522c5e2d7f6761a","side":"left"},{"sibling":"4189fb616853b63efeccd8c98308b970a4444cb48cec9d4d57d47996103bbc76","side":"right"},{"sibling":"3d9f311f467db31ee1be2d9664daf3ef6547a3814a86217d383241d0655ab769","side":"left"},{"sibling":"ac698c3a6027f35b513fe892f166e70344e855625238cbb581d0bf06c131db80","side":"right"},{"sibling":"a4d17aefe58175050dc159af6246658fcf1c9f3ed57aacf1b350fc3261de4e69","side":"left"},{"sibling":"280b980aa0c7756b0b0cb22658f26466d36f0e70fbc3312cd2311d9898e30b8f","side":"right"},{"sibling":"c98954d4b658b1dda60fe52576fcf9bf21a2d49c67fb63f8c30f16ab5f721938","side":"right"},{"sibling":"cdb58f86163046d3b15f857b03372ec75e1ad9ea4548e086793d528b9eed364d","side":"left"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"6cea4964f32722eb370847c2f7c9d6a9f0622c239538b07e6815a59d6fd8d49c","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":228173,"merkle_root":"7e416202c0bfd759bd2eea4236713b403993d99793fe8badb5065040080bece3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260611T143708Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-11T21:59:35Z","sig_algorithm":"ed25519","signature":"231c80024bc3982dd493c45b31af95097e97aabc6d712a4e5bad7d0cbdd3c08e01ff395b0f8e72754bac97016e0cd0eed88b8a13cb71edbbcb9b6d72c10a7b03","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_1e41d65988932c19ce0847e6e2883e5f700ad62891b42af76bd4531a9e7037b1"}}