Dylan Epstein-Gross

2022

Locomotion as a Risk-mitigating Behavior in Uncertain Environments: A Rapid Planning and Few-shot Failure Adaptation Approach

Jacob Hackett, Dylan Epstein-Gross, Monica Daley, Christian Hubicki

ICRA 2022poster

We want robots to complete assigned tasks even when unexpected task pressures arise, either from the robot or the environment. This paper presents a method of both learning sources of task failure in situ and rapidly planning new motions on-the-fly to accommodate them. This “risk-adaptive” approach…

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Confirmation Bias: A Challenge for Scalable Oversight

Locomotion as a Risk-mitigating Behavior in Uncertain Environments: A Rapid Planning and Few-shot Failure Adaptation Approach