A Game-Theoretic Framework for Joint Forecasting and Planning
Kushal Kedia,Prithwish Dan,Sanjiban Choudhury,Kushal Kedia,Prithwish Dan,Sanjiban Choudhury
Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion. However, simply predicting the most likely motion from prior interactions does not guarantee safety. Such forecasts fail to model the long tail of possible events, which are rarely observed in limited datasets. On the other hand, planning for worst-case motions leads to overtly conservative be...
