Abstract
Contingency games enable agents to anticipate and plan for other agents' hypothetical intents by constructing trajectories with a shared prefix and intent-dependent branches. While contingency games capture intent uncertainty, existing formulations rely on a single branching time, oversimplifying interactions in which different agents' intentions are revealed at different times. Moreover, the computational cost of such problems grows rapidly with the number of agents and intents, as all scenario-dependent best responses must be solved jointly. We introduce a multi-branch contingency architecture in which sources of intent uncertainty can be resolved progressively at different branching times, allowing the planned trajectories to adapt to the asynchronous revelation of intents. We also develop an ADMM-based solver that exploits scenario-level parallelism. Experiments on tightly coupled three-agent interactions support that the proposed architecture outperforms the conventional single-branch while achieving a lower mean receding-horizon solve time.
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URL
https://arxiv.org/abs/2609.37612
