Reasoning Multi-Agent Behavioral Topology for Interactive Autonomous Driving

Autonomous driving system aims for safe and social-consistent driving through the behavioral integration among interactive agents. However, challenges remain due to multi-agent scene uncertainty and heterogeneous interaction. To address this, we initiate a topological formation that serves as a compliant behavioral foreground to guide downstream trajectory generations. Specifically, we introduce Behavioral Topology (BeTop), a pivotal topological formulation that explicitly represents the consensual behavioral pattern among multi-agent future. BeTop is derived from braid theory to distill compliant interactive topology from multi-agent future trajectories.