Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction

25 Oct 2017Edward SchmerlingKaren LeungWolf VollprechtMarco Pavone

This paper presents a method for constructing human-robot interaction policies in settings where multimodality, i.e., the possibility of multiple highly distinct futures, plays a critical role in decision making. We are motivated in this work by the example of traffic weaving, e.g., at highway on-ramps/off-ramps, where entering and exiting cars must swap lanes in a short distance---a challenging negotiation even for experienced drivers due to the inherent multimodal uncertainty of who will pass whom... (read more)

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