SIGMO: Sigmoid Gated Interaction-Aware Motion Planning

Simulaton Results: SIGMO and Naive MPPI on the identical seeds in two interaction-intensive scenarios: a merge into traffic and a narrow passage shared with pedestrians.

naive_mppi_merge.mp4

Naive MPPI: Stays in the source lane

Remains in its original lane, unable to initiate a merge without an available gap.

SIGMO_merge.mp4

SIGMO: Nudges into the gap

Ego gradually approaches the target lane, adjacent vehicle slows and its estimated yield probability rises as it slows, and the ego merges ahead.

MPPI_Passage.mp4

Naive MPPI: Stranded in the corridor

Reacts only to imminent collisions; brakes repeatedly for crossing pedestrians, waits over 10 s as pedestrians cross

SIGMO_Passage.mp4

SIGMO: Passes, then yields

Adjusts its speed to progress through pedestrian traffic that are likely to yield while slowing for an oncoming pedestrian.

Hardware Results: SIGMO on a 1/10-scale F1Tenth car merging from a ramp while a pedestrian walks the lane, running at alongside onboard perception and localization. One Naive MPPI run for comparison, then three SIGMO runs showing it yielding after a short or a long attempt or merging ahead proactively.

rc_naive_mppi_blurred.mp4

Naive MPPI stalls at the merge.
No interaction term; waits on the ramp for the pedestrian to pass.

sigmo_surrender_1_blurred.mp4

SIGMO Surrender Short:

Tests the gap, sees no yield, gives way within a second or two.

SIGMO_surrender_2_blurred.mp4

SIGMO Surrender Long:

Presses the merge for several seconds, the pedestrian holds course, SIGMO backs off and merges behind

SIGMO_proactive_blurred.mp4

SIGMO Proactive:

Nudges and merges ahead

Reads the pedestrian as likely to yield, claims the gap, merges in front.

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