A Game-Theoretic Framework for Joint Forecasting and Planning

Understand

Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion.

• However, simply predicting the most likely motion from prior interactions does not guarantee safety.
• Such forecasts fail to model the long tail of possible events, which are rarely observed in limited datasets.
• On the other hand, planning for worst-case motions leads to overtly conservative behavior and a "frozen robot".