Safer Autonomous Driving in a Stochastic, Partially-Observable Environment by Hierarchical Contingency Planning. (arXiv:2204.06509v1 [cs.LG])

When learning to act in a stochastic, partially observable environment, an
intelligent agent should be prepared to anticipate a change in its belief of
the environment state, and be capable of adapting its actions on-the-fly to
changing conditions. As humans, we are able to form contingency plans when
learning a task with the explicit aim of being able to correct errors in the
initial control, and hence prove useful if ever there is a sudden change in our
perception of …

arxiv autonomous autonomous driving environment hierarchical observable planning stochastic