This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC). Leveraging reachability analysis, we address the computational challenges associated with Branch MPC by organizing the multitude of predictions into driving corridors. Analyzing the overlap between these corridors, their number can be reduced through pruning and clustering while ensuring safety since all prediction modes are preserved. These processed corridors directly correspond to the distinct branches of the scenario tree and provide an efficient constraint representation for the Branch MPC. We further utilize the reachability for determining maximum feasible decision postponing times, ensuring that branching decisions remain executable. Qualitative and quantitative evaluations demonstrate significantly reduced computational complexity and enhanced safety and comfort.

Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls short of providing an adequately close initial guess for the current optimal trajectory. This can potentially result in convergence failures and safety issues. Therefore, this paper proposes a framework for learning-aided warmstarts of Model Predictive Control algorithms. Our method leverages a neural network based multimodal predictor to generate multiple trajectory proposals for the autonomous vehicle, which are further refined by a sampling-based technique. This combined approach enables us to identify multiple distinct local minima and provide an improved initial guess. We validate our approach with Monte Carlo simulations of traffic scenarios.

Robustness against Out-of-Distribution (OoD) samples is a key performance indicator of a trajectory prediction model. However, the development and ranking of state-of-the-art (SotA) models are driven by their In-Distribution (ID) performance on individual competition datasets. We present an OoD testing protocol that homogenizes datasets and prediction tasks across two large-scale motion datasets. We introduce a novel prediction algorithm based on polynomial representations for agent trajectory and road geometry on both the input and output sides of the model. With a much smaller model size, training effort, and inference time, we reach near SotA performance for ID testing and significantly improve robustness in OoD testing. Within our OoD testing protocol, we further study two augmentation strategies of SotA models and their effects on model generalization. Highlighting the contrast between ID and OoD performance, we suggest adding OoD testing to the evaluation criteria of trajectory prediction models.

It is widely believed that the modular organization of cellular function is reflected in a modular structure of molecular networks. A common view is that a "module" in a network is a cohesively linked group of nodes, densely connected internally and sparsely interacting with the rest of the network. Many algorithms try to identify functional modules in protein-interaction networks (PIN) by searching for such cohesive groups of proteins. Here, we present an alternative approach independent of any prior definition of what actually constitutes a "module". In a self-consistent manner, proteins are grouped into "functional roles" if they interact in similar ways with other proteins according to their functional roles. Such grouping may well result in cohesive modules again, but only if the network structure actually supports this. We applied our method to the PIN from the Human Protein Reference Database (HPRD) and found that a representation of the network in terms of cohesive modules, at least on a global scale, does not optimally represent the network's structure because it focuses on finding independent groups of proteins. In contrast, a decomposition into functional roles is able to depict the structure much better as it also takes into account the interdependencies between roles and even allows groupings based on the absence of interactions between proteins in the same functional role. This, for example, is the case for transmembrane proteins, which could never be recognized as a cohesive group of nodes in a PIN. When mapping experimental methods onto the groups, we identified profound differences in the coverage suggesting that our method is able to capture experimental bias in the data, too. For example yeast-two-hybrid data were highly overrepresented in one particular group. Thus, there is more structure in protein-interaction networks than cohesive modules alone and we believe this finding can significantly improve automated function prediction algorithms.