3.6  Bridges to Learning and Uncertainty

3.6.1 Outline

• Why planners need probability later: noise, perception errors, stochastic tasks
• Light probability refresher scope and timing before ML/RL chapters
• Data-driven model updates vs hand-built operators; integrating learned costs
• Where to hand off to RL or trajectory optimization; preview of Chapters 19–22 and 26
• Reading map: what to skim in R&N now vs return to later