Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation
Samuel Triest,Mateo Guaman Castro,Parv Maheshwari,Matthew Sivaprakasam,Wenshan Wang,Sebastian Scherer,Samuel Triest,Mateo Guaman Castro,Parv Maheshwari,Matthew Sivaprakasam,Wenshan Wang,Sebastian Scherer
The process of designing costmaps for off-road driving tasks is often a challenging and engineering-intensive task. Recent work in costmap design for off-road driving focuses on training deep neural networks to predict costmaps from sensory observations using corpora of expert driving data. However, such approaches are generally subject to over-confident mis-predictions and are rarely evaluated in...
