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In real-world traffic, rational human drivers can make socially-compatible decisions in complex and crowded scenarios by efficiently negotiating with their surroundings using non-linguistic communications such as gesturing, deictics, and motion cues. Understanding the principles and rules of the dynamic interaction among human drivers in complex traffic scenes allows 1) generating diverse social driving behaviors that leverage beliefs and expectations about others' actions or reactions; 2) predicting the future states of a scene with moving objects, which is essential to building probably...