FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis

Aman Sinha, Matthew O'Kelly, Hongrui Zheng, Rahul Mangharam, John C. Duchi, Russ Tedrake

Abstract: Balancing performance and safety is crucial to deploying autonomous vehicles in multi-agent environments. In particular, autonomous racing is a domain that penalizes safe but conservative policies,...