Improving Reliable Navigation Under Uncertainty via Predictions Informed by Non-Local Information

Raihan Islam Arnob,Gregory J. Stein,Raihan Islam Arnob,Gregory J. Stein

We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using nonlocally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about where to navigate in general requires nonlocal information: any observations the robot has seen so far may provide information about the goodness of a particula...