Safety and Efficiency in Autonomous Vehicles through Online Learning

Zachary Sunberg

 

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Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Algorithms for Continuous POMDPs

Infrastructure of reusable software tools and quality publications

Controlling an Autonomous Vehicle is inherently a multi-objective problem

EFFICIENCY

SAFETY

Minimize resource use

(especially time)

Minimize the risk of harm to oneself and others

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Safety and Efficiency in Autonomous Driving

Sadigh, Dorsa, et al. "Information gathering actions over human internal state." Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016.

Schmerling, Edward, et al. "Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction." arXiv preprint arXiv:1710.09483 (2017).

Sadigh, Dorsa, et al. "Planning for Autonomous Cars that Leverage Effects on Human Actions." Robotics: Science and Systems. 2016.

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Safety and Efficiency in Autonomous Driving

MDP Planning

Omniscient upper bound

POMDP Planning

Simulation results

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Safety and Efficiency in Autonomous Driving

Better

Performance

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Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Algorithms for Continuous POMDPs

Infrastructure of reusable software tools and quality publications

 

Silver, David, and Joel Veness. "Monte-Carlo planning in large POMDPs." Advances in neural information processing systems. 2010.

Ross, Stéphane, et al. "Online planning algorithms for POMDPs." Journal of Artificial Intelligence Research 32 (2008): 663-704.

Algorithms for Continuous POMDPs

Basic Online POMDP Planning: POMCP

POMCP

POMCP-DPW

POMCPOW

Algorithms for Continuous POMDPs

(Silver, 2010)

(Sunberg, 2017)

(Sunberg, 2018)

Algorithms for Continuous POMDPs

Next Generation: Scenario Tree Planning

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Algorithms for Continuous POMDPs

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Algorithms for Continuous POMDPs

Infrastructure of reusable software tools and quality publications

POMDPs.jl

POMDPs.jl

POMDPs.jl

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Algorithms for Continuous POMDPs

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Infrastructure of reusable software tools and quality publications

Autorotation

Autonomous Helicopter Autorotation

Flight Tests

Autonomous Helicopter Autorotation

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Algorithms for Continuous POMDPs

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Algorithms for Continuous POMDPs

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Confidence in Autonomous Systems

  • What is safety for an autonomous system?
  • How do we ensure safety in the real world with real sensors and dynamics?
  • How can autonomous systems work with humans?

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Infrastructure of reusable software tools and quality publications

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Infrastructure of reusable software tools and quality publications

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

image/svg+xml

Safety and Efficiency in Autonomous Driving

Autonomous Helicopter Autorotation

Algorithms for Continuous POMDPs

POMDPs.jl

Dempster-Shafer Theory for Continuous Sets

Aerial and Ground

Vehicle Applications

Collision Avoidance for UAVs

Bayesian RL for Robotic Manipulators and Prosthetics

Hierarchy in decision problems

Price of Computation

Confidence in Autonomous Systems

Algorithms for Autonomy

Satellite Tracking (ISRHC)

Infrastructure of reusable software tools and quality publications

Thank You!

Light-Dark Problem

State

Timestep

Accurate Observations

Goal: \(a=0\) at \(s=0\)

Optimal Policy

Localize

\(a=0\)

Algorithms for Continuous POMDPs

POMCP

POMCP-DPW

POMCPOW

Algorithms for Continuous POMDPs

(Silver, 2010)

(Sunberg, 2017)

(Sunberg, 2018)

Quick Interview Slides

By Zachary Sunberg

Quick Interview Slides

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