Hybrid Imitative Planning
with Geometric and Predictive Costs in Offroad Environments

Nitish Dashora*, Daniel Shin*, Dhruv Shah, Henry Leopold, David Fan, Ali Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine

UC Berkeley, NASA Jet Propulsion Laboratory, University of Waterloo, Georgia Tech

HIP in In-Distribution environments

Trajectories key: Green: planned trajectory; Blue: low-cost trajectories; Yellow: high-cost trajectories;

Ground-plane key: White: low-cost locations; Black: high-cost locations; Red spheres: goal direction

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Trajectories key: Green: planned trajectory; Blue: low-cost trajectories; Yellow: high-cost trajectories;

Ground-plane key: White: low-cost locations; Black: high-cost locations; Red spheres: goal direction

ood_vid1_trim.mp4

ood_vid2_trim.mp4

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