Multi-Agent Reinforcement Learning for Safe Autonomous Driving Under Pedestrian Behavioral Uncertainty

ArXi:2605.20255v1 Announce Type: new Simulation-based testing of self-driving cars (SDCs) typically relies on scripted or simplified pedestrian models that do not capture the heterogeneity and uncertainty of real human crossing behavior. This limits the realism of safety assessments, especially in scenarios involving jaywalking, which is governed by latent personality traits that the vehicle cannot observe. We hypothesize that jointly