PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain

• URL: http://arxiv.org/abs/2409.03005v1
• Date: Wed, 4 Sep 2024 18:01:10 GMT
• Title: PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain
• Authors: Xiaoyi Cai, James Queeney, Tong Xu, Aniket Datar, Chenhui Pan, Max Miller, Ashton Flather, Philip R. Osteen, Nicholas Roy, Xuesu Xiao, Jonathan P. How,
• Abstract summary: Physics-Informed Evidential Traversability (PIETRA) is a self-supervised learning framework that integrates physics priors directly into the mathematical formulation of evidential neural networks. Our evidential network seamlessly transitions between learned and physics-based predictions for out-of-distribution inputs. PIETRA improves both learning accuracy and navigation performance in environments with significant distribution shifts.
• Score: 35.21102019590834
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Self-supervised learning is a powerful approach for developing traversability models for off-road navigation, but these models often struggle with inputs unseen during training. Existing methods utilize techniques like evidential deep learning to quantify model uncertainty, helping to identify and avoid out-of-distribution terrain. However, always avoiding out-of-distribution terrain can be overly conservative, e.g., when novel terrain can be effectively analyzed using a physics-based model. To overcome this challenge, we introduce Physics-Informed Evidential Traversability (PIETRA), a self-supervised learning framework that integrates physics priors directly into the mathematical formulation of evidential neural networks and introduces physics knowledge implicitly through an uncertainty-aware, physics-informed training loss. Our evidential network seamlessly transitions between learned and physics-based predictions for out-of-distribution inputs. Additionally, the physics-informed loss regularizes the learned model, ensuring better alignment with the physics model. Extensive simulations and hardware experiments demonstrate that PIETRA improves both learning accuracy and navigation performance in environments with significant distribution shifts.

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