相关论文: Neural MP: A Generalist Neural Motion Planner

Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…

Predicting human motion in unstructured and dynamic environments is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose to encode…

Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…

Driving in a human-like manner is important for an autonomous vehicle to be a smart and predictable traffic participant. To achieve this goal, parameters of the motion planning module should be carefully tuned, which needs great effort and…

In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…

In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…

Neural network (NN)-based methods have emerged as an attractive approach for robot motion planning due to strong learning capabilities of NN models and their inherently high parallelism. Despite the current development in this direction,…

We introduce a novel formulation of motion planning, for continuous-time trajectories, as probabilistic inference. We first show how smooth continuous-time trajectories can be represented by a small number of states using sparse Gaussian…

Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used for leveraging precomputation and dealing with difficult…

When using sampling-based motion planners, such as PRMs, in configuration spaces, it is difficult to determine how many samples are required for the PRM to find a solution consistently. This is relevant in Task and Motion Planning (TAMP),…

Generalized planning accelerates classical planning by finding an algorithm-like policy that solves multiple instances of a task. A generalized plan can be learned from a few training examples and applied to an entire domain of problems.…

The trade-off between computation time and path optimality is a key consideration in motion planning algorithms. While classical sampling based algorithms fall short of computational efficiency in high dimensional planning, learning based…

Recently, we have witnessed the great success of the generalist model in natural language processing. The generalist model is a general framework trained with massive data and is able to process various downstream tasks simultaneously.…

This paper presents a new approach to learning for motion planning (MP) where critical regions of an environment are learned from a given set of motion plans and used to improve performance on new environments and problem instances. We…

We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each problem instance by utilizing problem-specific parameters,…

Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Human motion generation, a cornerstone technique in animation and video production, has widespread applications in various tasks like text-to-motion and music-to-dance. Previous works focus on developing specialist models tailored for each…