Locomotion as a Risk-mitigating Behavior in Uncertain Environments: A Rapid Planning and Few-shot Failure Adaptation Approach
Jacob Hackett,Dylan Epstein-Gross,Monica Daley,Christian Hubicki,Jacob Hackett,Dylan Epstein-Gross,Monica Daley,Christian Hubicki
We want robots to complete assigned tasks even when unexpected task pressures arise, either from the robot or the environment. This paper presents a method of both learning sources of task failure in situ and rapidly planning new motions on-the-fly to accommodate them. This “risk-adaptive” approach to robot control uses a few encounters with a novel failure mode to generate a probabilistic failure...
