Robust Policy Search for an Agile Ground Vehicle Under Perception Uncertainty
Shahriar Sefati,Subhransu Mishra,Matthew Sheckells,Kapil D. Katyal,Jin Bai,Gregory D. Hager,Marin Kobilarov,Shahriar Sefati,Subhransu Mishra,Matthew Sheckells,Kapil D. Katyal,Jin Bai,Gregory D. Hager,Marin Kobilarov
Learning robust policies for robotic systems operating in presence of uncertainty is a challenging task. For safe navigation, in addition to the natural stochasticity of the environment and vehicle dynamics, the perception uncertainty associated with dynamic entities, e.g. pedestrians, must be accounted for during motion planning. To this end, we construct an algorithm with built-in robustness to ...
