Abstract: Techniques for safe non-conservative planning include: obtaining a risk budget constraining a plan for an autonomous vehicle to satisfy an objective; based at least on the risk budget and the objective, planning a trajectory of the autonomous vehicle toward the objective, at least by: (a) determining a risk cost associated with an initial planned action of the trajectory, (b) based at least on the risk cost, determining whether the trajectory is feasible or infeasible within the risk budget, and (c) responsive to determining that the trajectory is feasible within the risk budget, executing the initial planned action; decreasing the risk budget by the risk cost, to obtain a remaining risk budget; obtaining state data corresponding to a state of the autonomous vehicle after executing the initial planned action; and based at least on the state data, the remaining risk budget, and the objective, planning another trajectory toward the objective.

Abstract: Techniques for safe non-conservative planning include: obtaining a risk budget constraining a plan for an autonomous vehicle to satisfy an objective; based at least on the risk budget and the objective, planning a trajectory of the autonomous vehicle toward the objective, at least by: (a) determining a risk cost associated with an initial planned action of the trajectory, (b) based at least on the risk cost, determining whether the trajectory is feasible or infeasible within the risk budget, and (c) responsive to determining that the trajectory is feasible within the risk budget, executing the initial planned action; decreasing the risk budget by the risk cost, to obtain a remaining risk budget; obtaining state data corresponding to a state of the autonomous vehicle after executing the initial planned action; and based at least on the state data, the remaining risk budget, and the objective, planning another trajectory toward the objective.