What else is the ADCL doing?
Professor Zachary Sunberg
University of Colorado Boulder
CAAMS Meeting, Feb. 2024
Autonomous Decision and Control Laboratory
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Algorithmic Contributions
- Scalable algorithms for partially observable Markov decision processes (POMDPs)
- Motion planning with safety guarantees
- Game theoretic algorithms
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Theoretical Contributions
- Particle POMDP approximation bounds
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Applications
- Space Domain Awareness
- Autonomous Driving
- Autonomous Aerial Scientific Missions
- Search and Rescue
- Space Exploration
- Ecology
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Open Source Software
- POMDPs.jl Julia ecosystem
PI: Prof. Zachary Sunberg
PhD Students
Postdoc
POMDP (decision problem) is PSPACE Complete
Breaking the Curse of Dimensionality in POMDPs
\[|Q_{\mathbf{P}}^*(b,a) - Q_{\mathbf{M}_{\mathbf{P}}}^*(\bar{b},a)| \leq \epsilon \quad \text{w.p. } 1-\delta\]
For any \(\epsilon>0\) and \(\delta>0\), if \(C\) (number of particles) is high enough,
[Lim, Becker, Kochenderfer, Tomlin, & Sunberg, JAIR 2023]
No dependence on \(|\mathcal{S}|\) or \(|\mathcal{O}|\)!
Conventional 1DOF POMDP
Multi-DOF POMDP
Pedestrian Navigation
[Gupta, Hayes, & Sunberg, AAMAS 2021]
POMDP Planning with Learned Components
[Deglurkar, Lim, Sunberg, & Tomlin, 2023]
Explainability
Provide explanations to improve trust and enable cooperation
"Action 2 accounts for changes in availability window"
Explanation
i
1
2
1
2
"Everything is a POMDP"
"Autonomous storm data gathering is a POMDP"
Storm Science
Simplified Space Domain Awareness Game
1
2
...
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\(N\)
[Becker & Sunberg AMOS 2021]
Counterfactual Regret Minimization Training
Open question: are there \(\mathcal{S}\)- and \(\mathcal{O}\)-independent algorithms for POMGs?
Incomplete Information Extensive form Game
Our new algorithm for POMGs
Airborne Wind Energy Optimization
POMDPs.jl - An interface for defining and solving MDPs and POMDPs in Julia
Autonomous Decision and Control Laboratory
-
Algorithmic Contributions
- Scalable algorithms for partially observable Markov decision processes (POMDPs)
- Motion planning with safety guarantees
- Game theoretic algorithms
-
Theoretical Contributions
- Particle POMDP approximation bounds
-
Applications
- Space Domain Awareness
- Autonomous Driving
- Autonomous Aerial Scientific Missions
- Search and Rescue
- Space Exploration
- Ecology
-
Open Source Software
- POMDPs.jl Julia ecosystem
PI: Prof. Zachary Sunberg
PhD Students
Postdoc
CAAMS - What else are you doing?
By Zachary Sunberg
