RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments

Name: RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments
Uploaded: 2026-10-04T14:14:55.630363+00:00
Duration: 596 s
Description: This work combines reinforcement learning (RL) with stochastic nonlinear model predictive control (SNMPC) to enable safe navigation in unknown environments. It uses RL to train models that predict future sensor data and improve planning, while SNMPC ensures probabilistic safety guarantees against collisions by using learned value functions as terminal costs.

This work combines reinforcement learning (RL) with stochastic nonlinear model predictive control (SNMPC) to enable safe navigation in unknown environments. It uses RL to train models that predict future sensor data and improve planning, while SNMPC ensures probabilistic safety guarantees against collisions by using learned value functions as terminal costs.

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