When Your Robot Breaks: Active Learning During Plant Failure

17 Dec 2019Mariah SchrumMatthew Gombolay

Detecting and adapting to catastrophic failures in robotic systems requires a robot to learn its new dynamics quickly and safely to best accomplish its goals. To address this challenging problem, we propose probabilistically-safe, online learning techniques to infer the altered dynamics of a robot at the moment a failure (e.g., physical damage) occurs... (read more)

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