Bo Wahlberg

Computing monotone policies for Markov decision processes: a nearly-isotonic penalty approach

2017 · arXiv (Cornell University)

This paper discusses algorithms for solving Markov decision processes (MDPs) that have monotone optimal policies. We propose a two-stage alternating convex optimization scheme that can accelerate the search for an optimal policy by exploiting the …

Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control

2023 · arXiv (Cornell University)

Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-modal, 2) interacting with the autonomous vehicle, and 3) actively making …