CoRL 2021poster17 citations
Risk-Averse Zero-Order Trajectory Optimization
Marin Vlastelica, Sebastian Blaes, Cristina Pinneri, Georg Martius
Abstract
We introduce a simple but effective method for managing risk in zero-order trajectory optimization that involves probabilistic safety constraints and balancing of optimism in the face of epistemic uncertainty and pessimism in the face of aleatoric uncertainty of an ensemble of stochastic neural networks. Various experiments indicate that the separation of uncertainties is essential to performing well with data-driven MPC approaches in uncertain and safety-critical control environments.
CEMdata-driven MPCuncertaintymodel-based RL
BibTeX
@inproceedings{
vlastelica2021riskaverse,
title={Risk-Averse Zero-Order Trajectory Optimization},
author={Marin Vlastelica and Sebastian Blaes and Cristina Pinneri and Georg Martius},
booktitle={5th Annual Conference on Robot Learning },
year={2021},
url={https://openreview.net/forum?id=WqUl7sNkDre}
}