What else is the ADCL doing?

 

Professor Zachary Sunberg

University of Colorado Boulder

CAAMS Meeting, Feb. 2024

Autonomous Decision and Control Laboratory

cu-adcl.org

  • 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

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

...

...

...

...

...

...

...

\(N\)

[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

cu-adcl.org

  • 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

CAAMS - What else are you doing?

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