Entropy-regularized Point-based Value Iteration

1 code implementation • 14 Feb 2024 • Harrison Delecki, Marcell Vazquez-Chanlatte, Esen Yel, Kyle Wray, Tomer Arnon, Stefan Witwicki, Mykel J. Kochenderfer

However, model-based planners may be brittle under these types of uncertainty because they rely on an exact model and tend to commit to a single optimal behavior.

Model-based Validation as Probabilistic Inference

1 code implementation • 17 May 2023 • Harrison Delecki, Anthony Corso, Mykel J. Kochenderfer

Estimating the distribution over failures is a key step in validating autonomous systems.

Bayesian Inference

Risk-aware Meta-level Decision Making for Exploration Under Uncertainty

no code implementations • 12 Sep 2022 • Joshua Ott, Sung-Kyun Kim, Amanda Bouman, Oriana Peltzer, Mamoru Sobue, Harrison Delecki, Mykel J. Kochenderfer, Joel Burdick, Ali-akbar Agha-mohammadi

Robotic exploration of unknown environments is fundamentally a problem of decision making under uncertainty where the robot must account for uncertainty in sensor measurements, localization, action execution, as well as many other factors.

Decision Making Decision Making Under Uncertainty

How Do We Fail? Stress Testing Perception in Autonomous Vehicles

1 code implementation • 26 Mar 2022 • Harrison Delecki, Masha Itkina, Bernard Lange, Ransalu Senanayake, Mykel J. Kochenderfer

This paper presents a method for characterizing failures of LiDAR-based perception systems for AVs in adverse weather conditions.

Autonomous Vehicles Data Augmentation +2