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Motion Planning

21 papers with code · Robots

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Plan2Vec: Unsupervised Representation Learning by Latent Plans

ICLR 2020 geyang/plan2vec

In this paper we introduce plan2vec, an unsupervised representation learning approach that is inspired by reinforcement learning.

MOTION PLANNING UNSUPERVISED REPRESENTATION LEARNING

22
07 May 2020

Control Synthesis from Linear Temporal Logic Specifications using Model-Free Reinforcement Learning

16 Sep 2019alperkamil/csrl

We present a reinforcement learning (RL) framework to synthesize a control policy from a given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as a Markov Decision Process (MDP).

MOTION PLANNING

6
16 Sep 2019

Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree

11 Sep 2019aorthey/MotionPlanningExplorerGUI

Those minima are important to visualize to let a user guide, prevent or predict motions.

MOTION PLANNING

3
11 Sep 2019

miniSAM: A Flexible Factor Graph Non-linear Least Squares Optimization Framework

3 Sep 2019dongjing3309/minisam

Many problems in computer vision and robotics can be phrased as non-linear least squares optimization problems represented by factor graphs, for example, simultaneous localization and mapping (SLAM), structure from motion (SfM), motion planning, and control.

MOTION PLANNING SIMULTANEOUS LOCALIZATION AND MAPPING

190
03 Sep 2019

Learning to combine primitive skills: A step towards versatile robotic manipulation

2 Aug 2019rstrudel/rlbc

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision.

DATA AUGMENTATION IMITATION LEARNING MOTION PLANNING

13
02 Aug 2019

Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners

13 Jul 2019ahq1993/MPNet

We validate MPNet against gold-standard and state-of-the-art planning methods in a variety of problems from 2D to 7D robot configuration spaces in challenging and cluttered environments, with results showing significant and consistently stronger performance metrics, and motivating neural planning in general as a modern strategy for solving motion planning problems efficiently.

CONTINUAL LEARNING MOTION PLANNING

64
13 Jul 2019

BayesSim: adaptive domain randomization via probabilistic inference for robotics simulators

4 Jun 2019rafaelpossas/bayes_sim

We introduce BayesSim, a framework for robotics simulations allowing a full Bayesian treatment for the parameters of the simulator.

MOTION PLANNING

1
04 Jun 2019

3D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streams

1 May 2019walzimmer/3d-bat

In this paper, we focus on obtaining 2D and 3D labels, as well as track IDs for objects on the road with the help of a novel 3D Bounding Box Annotation Toolbox (3D BAT).

MOTION PLANNING MOTION PREDICTION

96
01 May 2019

Efficient Motion Planning for Automated Lane Change based on Imitation Learning and Mixed-Integer Optimization

18 Apr 2019SHITIANYU-hue/Efficient-motion-planning

Traditional motion planning methods suffer from several drawbacks in terms of optimality, efficiency and generalization capability.

AUTONOMOUS DRIVING IMITATION LEARNING MOTION PLANNING

2
18 Apr 2019