3 accepted papers
The problem of mimicking the concertina locomotion mode of biological snakes through narrow channels of uncertain width, using a multi-link planar serpenoid robot, is considered. A novel algorithm for generating a reference trajectory that accurately reproduces this natural gait pattern is proposed
Trust in a decision-making system requires both safety guarantees and the ability to interpret and understand its behavior. This is particularly important for learned systems, whose decision-making processes are often highly opaque. Shielding is a prominent model-based technique for enforcing safety…
We study decision making policies in Markov decision processes (MDPs). Two key performance indicators of such policies are their value and their interpretability. On the one hand, policies that optimize value can be efficiently computed via a plethora of standard methods. However, the representation