Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust, Informative Human-in-the-Loop Predictions via Empirical
  Reachable Sets   In order to develop provably safe human-in-the-loop systems, accurate and
precise models of human behavior must be developed. In the case of intelligent
vehicles, one can imagine the need for predicting driver behavior to develop
minimally invasive active safety systems or to safely interact with other
vehicles on the road. We present a optimization based method for approximating
the stochastic reachable set for human-in-the-loop systems. This method
identifies the most precise subset of states that a human driven vehicle may
enter, given some dataset of observed trajectories. We phrase this problem as a
mixed integer linear program, which can be solved using branch and bound
methods. The resulting model uncovers the most representative subset that
encapsulates the likely trajectories, up to some probability threshold, by
optimally rejecting outliers in the dataset. This tool provides set predictions
consisting of trajectories observed from the nonlinear dynamics and behaviors
of the human driven car, and can account for modes of behavior, like the driver
state or intent. This allows us to predict driving behavior over long time
horizons with high accuracy. By using this realistic data and flexible
algorithm, a precise and accurate driver model can be developed to capture
likely behaviors. The resulting prediction can be tailored to an individual for
use in semi-autonomous frameworks or generally applied for autonomous planning
in interactive maneuvers.

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The categories of this paper are: quant-ph
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The categories of this paper are: econ
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The categories of this paper are: acc-phys
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The categories of this paper are: solv-int
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The categories of this paper are: nlin
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The categories of this paper are: q-bio
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The categories of this paper are: hep-ph
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The categories of this paper are: gr-qc
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The categories of this paper are: patt-sol
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The categories of this paper are: math
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The categories of this paper are: nucl-th
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The categories of this paper are: astro-ph
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The categories of this paper are: plasm-ph
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The categories of this paper are: ao-sci
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The categories of this paper are: stat
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The categories of this paper are: adap-org