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.
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.
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).
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.
In this paper, we present a neural network-based adaptive sampler for motion planning called Deep Sampling-based Motion Planner (DeepSMP).
We extend PDDL to support a generic, declarative specification for these procedures that treats their implementation as black boxes.