{"id":"https://openalex.org/W4389667574","doi":"https://doi.org/10.1109/iros55552.2023.10341378","title":"Learning Models of Adversarial Agent Behavior Under Partial Observability","display_name":"Learning Models of Adversarial Agent Behavior Under Partial Observability","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667574","doi":"https://doi.org/10.1109/iros55552.2023.10341378"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104143328","display_name":"Sean Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]}],"countries":["SE","US"],"is_corresponding":false,"raw_author_name":"Sean Ye","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080835210","display_name":"Manisha Natarajan","orcid":"https://orcid.org/0000-0001-7583-9685"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]}],"countries":["SE","US"],"is_corresponding":false,"raw_author_name":"Manisha Natarajan","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101572719","display_name":"Zixuan Wu","orcid":"https://orcid.org/0000-0002-8742-4986"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]}],"countries":["SE","US"],"is_corresponding":false,"raw_author_name":"Zixuan Wu","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005412601","display_name":"Rohan Paleja","orcid":"https://orcid.org/0000-0002-0773-8054"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]}],"countries":["SE","US"],"is_corresponding":false,"raw_author_name":"Rohan Paleja","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076130143","display_name":"Letian Chen","orcid":"https://orcid.org/0000-0001-6413-636X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]}],"countries":["SE","US"],"is_corresponding":false,"raw_author_name":"Letian Chen","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008211323","display_name":"Matthew Gombolay","orcid":"https://orcid.org/0000-0002-5321-6038"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]}],"countries":["SE","US"],"is_corresponding":false,"raw_author_name":"Matthew C. Gombolay","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2946,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83473129,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3688","last_page":"3695"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9663000106811523,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.8518986701965332},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8278682231903076},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6930646896362305},{"id":"https://openalex.org/keywords/adversary","display_name":"Adversary","score":0.5930638909339905},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.587436318397522},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5764837265014648},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5718786716461182},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4596734642982483},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42781850695610046},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.33992457389831543},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3027857542037964},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.20760351419448853},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17562255263328552}],"concepts":[{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.8518986701965332},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8278682231903076},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6930646896362305},{"id":"https://openalex.org/C41065033","wikidata":"https://www.wikidata.org/wiki/Q2825412","display_name":"Adversary","level":2,"score":0.5930638909339905},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.587436318397522},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5764837265014648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5718786716461182},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4596734642982483},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42781850695610046},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33992457389831543},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3027857542037964},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.20760351419448853},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17562255263328552},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G3615837238","display_name":null,"funder_award_id":"N00014-19-1-2076,N00014-22-1-2834,N00173-21-1-G009","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5149242429","display_name":"CPS: Medium: Learning-Enabled Assistive Driving: Formal Assurances during Operation and Training","funder_award_id":"2219755","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6438257714","display_name":null,"funder_award_id":"7000437192","funder_id":"https://openalex.org/F4320332503","funder_display_name":"Lincoln Laboratory, Massachusetts Institute of Technology"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332503","display_name":"Lincoln Laboratory, Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W592244745","https://openalex.org/W1583837637","https://openalex.org/W2022023686","https://openalex.org/W2049457635","https://openalex.org/W2099457710","https://openalex.org/W2140242774","https://openalex.org/W2141754699","https://openalex.org/W2162524281","https://openalex.org/W2237765446","https://openalex.org/W2419340481","https://openalex.org/W2770884134","https://openalex.org/W2907492528","https://openalex.org/W2963221965","https://openalex.org/W2963226019","https://openalex.org/W3204195554","https://openalex.org/W4206439154","https://openalex.org/W4287899365","https://openalex.org/W4288328935","https://openalex.org/W4289100326","https://openalex.org/W4312772252","https://openalex.org/W6617744952","https://openalex.org/W6721101288","https://openalex.org/W6738261575","https://openalex.org/W6748910126","https://openalex.org/W6751912414","https://openalex.org/W6757784512","https://openalex.org/W6759312711","https://openalex.org/W6773882092","https://openalex.org/W6779370943","https://openalex.org/W6784468349","https://openalex.org/W6785034342"],"related_works":["https://openalex.org/W4320018150","https://openalex.org/W2040808657","https://openalex.org/W4239582170","https://openalex.org/W2918664383","https://openalex.org/W106056076","https://openalex.org/W4320855730","https://openalex.org/W2135200719","https://openalex.org/W2785601041","https://openalex.org/W2241417046","https://openalex.org/W2908598672"],"abstract_inverted_index":{"The":[0],"need":[1],"for":[2,35,137],"opponent":[3,42,73],"modeling":[4,36],"and":[5,19,67,100,106,130],"tracking":[6,99],"arises":[7],"in":[8,127],"several":[9],"real-world":[10,88],"scenarios,":[11,89],"such":[12],"as":[13,59],"professional":[14],"sports,":[15],"video":[16],"game":[17],"design,":[18],"drug-trafficking":[20],"interdiction.":[21],"In":[22],"this":[23],"work,":[24],"we":[25,80],"present":[26],"Graph":[27],"based":[28,52],"Adversarial":[29],"Modeling":[30],"with":[31,74,98],"Mutual":[32],"Information":[33],"(GrAMMI)":[34],"the":[37,65,107,119],"behavior":[38],"of":[39,70,93],"an":[40,60,71],"adversarial":[41,72,104,108,139],"agent.":[43],"GrAMMI":[44,123],"is":[45,96],"a":[46,91,102],"novel":[47],"graph":[48],"neural":[49],"network":[50],"(GNN)":[51],"approach":[53],"that":[54],"uses":[55],"mutual":[56,120],"information":[57,121],"maximization":[58],"auxiliary":[61],"objective":[62],"to":[63],"predict":[64],"current":[66],"future":[68,138],"states":[69],"partial":[75],"observability.":[76],"To":[77],"evaluate":[78],"GrAMMI,":[79],"design":[81],"two":[82],"large-scale,":[83],"pursuit-evasion":[84],"domains":[85,129],"inspired":[86],"by":[87],"where":[90],"team":[92],"heterogeneous":[94],"agents":[95],"tasked":[97],"interdicting":[101],"single":[103],"agent,":[105],"agent":[109],"must":[110],"evade":[111],"detection":[112],"while":[113],"achieving":[114],"its":[115],"own":[116],"objectives.":[117],"With":[118],"formulation,":[122],"outperforms":[124],"all":[125],"baselines":[126],"both":[128,143],"achieves":[131],"31.68%":[132],"higher":[133],"log-likelihood":[134],"on":[135],"average":[136],"state":[140],"predictions":[141],"across":[142],"domains.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
