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Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office…
Noisy sensing, imperfect control, and environment changes are defining characteristics of many real-world robot tasks. The partially observable Markov decision process (POMDP) provides a principled mathematical framework for modeling and…
Recent years have seen human robot collaboration (HRC) quickly emerged as a hot research area at the intersection of control, robotics, and psychology. While most of the existing work in HRC focused on either low-level human-aware motion…
Robots operating in complex and unknown environments frequently require geometric-semantic representations of the environment to safely perform their tasks. While inferring the environment, they must account for many possible scenarios when…
Partially observable Markov decision processes (POMDPs) provide an elegant mathematical framework for modeling complex decision and planning problems in stochastic domains in which states of the system are observable only indirectly, via a…
Uncertainties in dynamic road environments pose significant challenges for behavior and trajectory planning in autonomous driving. This paper introduces Hi-Drive, a hierarchical planning algorithm addressing uncertainties at both behavior…
Planning under uncertainty is critical to robotics. The Partially Observable Markov Decision Process (POMDP) is a mathematical framework for such planning problems. It is powerful due to its careful quantification of the non-deterministic…
POMDPs capture a broad class of decision making problems, but hardness results suggest that learning is intractable even in simple settings due to the inherent partial observability. However, in many realistic problems, more information is…
Partially observable Markov decision processes (POMDPs) model specific environments in sequential decision-making under uncertainty. Critically, optimal policies for POMDPs may not be robust against perturbations in the environment.…
Hidden Markov Model (HMM) is often regarded as the dynamical model of choice in many fields and applications. It is also at the heart of most state-of-the-art speech recognition systems since the 70's. However, from Gaussian mixture models…
There is an increase in interest to model driving maneuver patterns via the automatic unsupervised clustering of naturalistic sequential kinematic driving data. The patterns learned are often used in transportation research areas such as…
Control applications often feature tasks with similar, but not identical, dynamics. We introduce the Hidden Parameter Markov Decision Process (HiP-MDP), a framework that parametrizes a family of related dynamical systems with a…
Autonomous Vehicles navigating in urban areas have a need to understand and predict future pedestrian behavior for safer navigation. This high level of situational awareness requires observing pedestrian behavior and extrapolating their…
Autonomous vehicles (AVs) require accurate metric and topological location estimates for safe, effective navigation and decision-making. Although many high-definition (HD) roadmaps exist, they are not always accurate since public roads are…
Traditional approaches to mapping of environments in robotics make use of spatially discretized representations, such as occupancy grid maps. Modern systems, e.g. in agriculture or automotive applications, are equipped with a variety of…
The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible results, and sensors are…
Robots often face challenges in domestic environments where visual feedback is ineffective, such as retrieving objects obstructed by occlusions or finding a light switch in the dark. In these cases, utilizing contacts to localize the target…
There are many situations in which it would be beneficial for a robot to have predictive abilities similar to those of rational humans. Some of these situations include collaborative robots, robots in adversarial situations, and for dynamic…
Reinforcement learning would enjoy better success on real-world problems if domain knowledge could be imparted to the algorithm by the modelers. Most problems have both hidden state and unknown dynamics. Partially observable Markov decision…
We consider the task of learning mappings from sequential data to real-valued responses. We present and evaluate an approach to learning a type of hidden Markov model (HMM) for regression. The learning process involves inferring the…