Risk Conditioned Neural Motion Planning
Xin Huang,Meng Feng,Ashkan Jasour,Guy Rosman,Brian Williams,Xin Huang,Meng Feng,Ashkan Jasour,Guy Rosman,Brian Williams
Risk-bounded motion planning is an important yet difficult problem for safety-critical tasks. While existing mathematical programming methods offer theoretical guarantees in the context of constrained Markov decision processes, they either lack scalability in solving larger problems or produce conservative plans. Recent advances in deep reinforcement learning improve scalability by learning policy...
