Abstract: Various technologies described herein pertain to generating control inputs for a cyber-physical system. A prediction concerning a phenomenon can be generated, utilizing a classifier, based on sensor data acquired by a sensor. The prediction can include a probability distribution over a set of possible values of the phenomenon, where the phenomenon pertains to the cyber-physical system or an environment in which the cyber-physical system operates. Control inputs for the cyber-physical system that satisfy constraints that maintain safe operation of the cyber-physical system in the environment can be synthesized. The constraints can be based on the prediction that includes the probability distribution over the set of possible values of the phenomenon. Further, the cyber-physical system can be caused to operate in the environment based on the control inputs.

Abstract: A method for controlling an ego agent includes periodically receiving policy information comprising a spatial environment observation and a current state of the ego agent. The method also includes selecting, for each received policy information, a low-level policy from a number of low-level policies. The low-level policy may be selected based on a high-level policy. The method further includes controlling an action of the ego agent based on the selected low-level policy.

Abstract: Various technologies described herein pertain to generating control inputs for a cyber-physical system. A prediction concerning a phenomenon can be generated, utilizing a classifier, based on sensor data acquired by a sensor. The prediction can include a probability distribution over a set of possible values of the phenomenon, where the phenomenon pertains to the cyber-physical system or an environment in which the cyber-physical system operates. Control inputs for the cyber-physical system that satisfy constraints that maintain safe operation of the cyber-physical system in the environment can be synthesized. The constraints can be based on the prediction that includes the probability distribution over the set of possible values of the phenomenon. Further, the cyber-physical system can be caused to operate in the environment based on the control inputs.