Papers › Certainty Equivalent Perception-Based Control

Certainty Equivalent Perception-Based Control

27 Aug 2020arXiv:2008.12332archive 2025-07-28

Sarah Dean, Benjamin Recht

In order to certify performance and safety, feedback control requires precise characterization of sensor errors. In this paper, we provide guarantees on such feedback systems when sensors are characterized by solving a supervised learning problem. We show a uniform error bound on nonparametric kernel regression under a dynamically-achievable dense sampling scheme. This allows for a finite-time convergence rate on the sub-optimality of using the regressor in closed-loop for waypoint tracking. We demonstrate our results in simulation with simplified unmanned aerial vehicle and autonomous driving examples.

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