Maximum Likelihood Constraint Inference on Continuous State Spaces
Kaylene C. Stocking,D. Livingston McPherson,Robert P. Matthew,Claire J. Tomlin,Kaylene C. Stocking,D. Livingston McPherson,Robert P. Matthew,Claire J. Tomlin
When a robot observes another agent unexpectedly modifying their behavior, inferring the most likely cause is a valuable tool for maintaining safety and reacting appropriately. In this work, we present a novel method for inferring constraints that works on continuous, possibly sub-optimal demonstrations. We first learn a representation of the continuous-state maximum entropy trajectory distributio...
