Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments
Nitish Dashora,Daniel Shin,Dhruv Shah,Henry Leopold,David Fan,Ali Agha-Mohammadi,Nicholas Rhinehart,Sergey Levine,Nitish Dashora,Daniel Shin,Dhruv Shah,Henry Leopold,David Fan,Ali Agha-Mohammadi,Nicholas Rhinehart,Sergey Levine
Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass). Learning-based methods can directly learn collision-free behavior from raw observations, but are difficult to integrate with standard geometry-based pipelines. This create...
