Fewer Extreme Costs, Higher Average Cost: Risk-Aware Planning Beyond Expected Reward
TL;DR for operators Two autonomous policies can produce similarly acceptable average results while one occasionally causes a severe operational failure. Risk-aware planning matters because averages alone cannot reveal that difference. fileciteturn0file0 The paper evaluates the full pattern of states and actions accumulated during each run, then gives progressively more weight to costly outcomes in the resulting distribution. This allows the planner to reduce exposure to severe trajectories rather than merely adding a fixed penalty to expected reward. ...