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Motion Planning

8 papers with code · Robots

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Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learning

4 May 2018mfe7/cadrl_ros

Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. This work extends our previous approach to develop an algorithm that learns collision avoidance among a variety of types of dynamic agents without assuming they follow any particular behavior rules.

DECISION MAKING MOTION PLANNING

Deeply Informed Neural Sampling for Robot Motion Planning

26 Sep 2018ahq1993/MPNet

In this paper, we present a neural network-based adaptive sampler for motion planning called Deep Sampling-based Motion Planner (DeepSMP). DeepSMP's neural architecture comprises of a Contractive AutoEncoder which encodes given workspaces directly from a raw point cloud data, and a Dropout-based stochastic deep feedforward neural network which takes the workspace encoding, start and goal configuration, and iteratively generates feasible samples for SMPs to compute end-to-end collision-free optimal paths.

MOTION PLANNING

Motion Planning Networks

14 Jun 2018ahq1993/MPNet

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods such as RRT*, A*, and D*, become ineffective as their computational complexity increases exponentially with the dimensionality of the motion planning problem.

MOTION PLANNING SELF-DRIVING CARS TRANSFER LEARNING

STRIPStream: Integrating Symbolic Planners and Blackbox Samplers

23 Feb 2018caelan/pddlstream

Many planning applications involve complex relationships defined on high-dimensional, continuous variables. For example, robotic manipulation requires planning with kinematic, collision, and motion constraints involving robot configurations, object transforms, and robot trajectories.

MOTION PLANNING

STRIPS Planning in Infinite Domains

1 Jan 2017caelan/pddlstream

Many robotic planning applications involve continuous actions with highly non-linear constraints, which cannot be modeled using modern planners that construct a propositional representation. We introduce STRIPStream: an extension of the STRIPS language which can model these domains by supporting the specification of blackbox generators to handle complex constraints.

MOTION PLANNING

Regret bounds for meta Bayesian optimization with an unknown Gaussian process prior

NeurIPS 2018 beomjoonkim/MetaLearnBO

Bayesian optimization usually assumes that a Bayesian prior is given. However, the strong theoretical guarantees in Bayesian optimization are often regrettably compromised in practice because of unknown parameters in the prior.

MOTION PLANNING

Learning Configuration Space Belief Model from Collision Checks for Motion Planning

22 Jan 2019sumitsk/cspace_belief

Our aim is to reduce the expected number of collision checks by creating a belief model of the configuration space using results from collision tests. We have also proposed a weighting matrix in C-space to improve the performance of kNN methods.

MOTION PLANNING

CAD2RL: Real Single-Image Flight without a Single Real Image

13 Nov 2016abefetterman/hamstir-gym

We propose a learning method that we call CAD$^2$RL, which can be used to perform collision-free indoor flight in the real world while being trained entirely on 3D CAD models. This policy is trained entirely on simulated images, with a Monte Carlo policy evaluation algorithm that directly optimizes the network's ability to produce collision-free flight.

DEPTH ESTIMATION MOTION PLANNING