Cascaded consensus splitting for multi-branch contingency games

Contingency games enable agents to anticipate and plan for other agents' hypothetical intents by constructing trajectories with a shared prefix and intent-dependent branches. While contingency games capture intent uncertainty, existing formulations rely on a single branching time, oversimplifying interactions in which different agents' intentions are revealed at different times.

摘自论文摘要，摘要生成中。