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- W4380993894 abstract "We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary stochastic model of uncertainty, we propose a method that is efficient to implement and provably grants instance-optimality with respect to perturbations of trajectories generated from an open-loop planner (in the sense of minimizing worst-case regret). The resulting policy adapts online to realizations of uncertainty and provably compares well with the best obstacle avoidance policy in hindsight from a rich class of policies. The method is validated in simulation on a dynamical system environment and compared to baseline open-loop planning and robust Hamilton- Jacobi reachability techniques. Further, it is implemented on a hardware example where a quadruped robot traverses a dense obstacle field and encounters input disturbances due to time delays, model uncertainty, and dynamics nonlinearities." @default.
- W4380993894 created "2023-06-17" @default.
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- W4380993894 date "2023-06-14" @default.
- W4380993894 modified "2023-09-26" @default.
- W4380993894 title "Online Learning for Obstacle Avoidance" @default.
- W4380993894 doi "https://doi.org/10.48550/arxiv.2306.08776" @default.
- W4380993894 hasPublicationYear "2023" @default.
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