4 papers
Navigation under uncertainty: Trajectory prediction and occlusion reasoning with switching dynamical systems
Ran Wei, Joseph Lee, Shohei Wakayama +10
Predicting future trajectories of nearby objects, especially under occlusion, is a crucial task in autonomous driving and safe robot navigation. Prior works typically neglect to ma…
Active Inference in Contextual Multi-Armed Bandits for Autonomous Robotic Exploration
Shohei Wakayama, Alberto Candela, Paul Hayne +1
Autonomous selection of optimal options for data collection from multiple alternatives is challenging in uncertain environments. When secondary information about options is accessi…
Online Pareto-Optimal Decision-Making for Complex Tasks using Active Inference
Peter Amorese, Shohei Wakayama, Nisar Ahmed +1
When a robot autonomously performs a complex task, it frequently must balance competing objectives while maintaining safety. This becomes more difficult in uncertain environments w…
Observation-Augmented Contextual Multi-Armed Bandits for Robotic Search and Exploration
Shohei Wakayama, Nisar Ahmed
We introduce a new variant of contextual multi-armed bandits (CMABs) called observation-augmented CMABs (OA-CMABs) wherein a robot uses extra outcome observations from an external…