Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness.
Aidan CurtisGeorge MatheosNishad GothoskarVikash MansinghkaJoshua B. TenenbaumTomás Lozano-PérezLeslie Pack KaelblingPublished in: CoRR (2024)
Keyphrases
- motion planning
- partially observable
- partial observability
- belief space
- degrees of freedom
- trajectory planning
- markov decision processes
- path planning
- mobile robot
- reinforcement learning
- decision problems
- expected utility
- dynamical systems
- state space
- markov decision problems
- belief state
- partial observations
- humanoid robot
- infinite horizon
- robotic tasks
- multi robot
- collision free
- climbing robot
- planning problems
- decision making
- configuration space
- partially observable environments
- decision theoretic
- orders of magnitude
- optimal policy
- dynamic environments
- special case
- learning algorithm