Preprint
Sep 2026
RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments
In this paper, we present an approach for combining stochastic nonlinear model predictive control (SNMPC) and reinforcement learning (RL) to enable probabilistically-safe perception-based navigation in unknown environments. Our method first uses RL to train probabilistic actor-critic and sensor prediction models. We th...
A. Polevoy, Dillon Capalongo, Katherine Tang et al.
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