Trajectory Planning
42 papers with code • 2 benchmarks • 8 datasets
Trajectory planning for industrial robots consists of moving the tool center point from point A to point B while avoiding body collisions over time. Trajectory planning is sometimes referred to as motion planning and erroneously as path planning. Trajectory planning is distinct from path planning in that it is parametrized by time. Essentially trajectory planning encompasses path planning in addition to planning how to move based on velocity, time, and kinematics.
Datasets
nuScenes
highD Dataset
inD Dataset
ToolBench
rounD Dataset
exiD Dataset
uniD Dataset
short-MetaWorld
Latest papers
WROOM: An Autonomous Driving Approach for Off-Road Navigation
Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch.
Machine Learning Optimized Orthogonal Basis Piecewise Polynomial Approximation
We show that, using this regularization approach, Chebyshev basis performs better than power basis for all relevant optimizers in the combined approximation and continuity optimization setting and demonstrate usability of the presented approach within the electronic cam domain.
SwissNYF: Tool Grounded LLM Agents for Black Box Setting
Therefore, we harness the program synthesis capabilities of LLMs to strategize tool usage in black-box settings, ensuring solutions are verified prior to implementation.
SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution
Experiments on multi-task robotic manipulation benchmarks like Meta-World and LOReL demonstrate state-of-the-art performance and human-interpretable skill representations from SkillDiffuser.
Fortify the Shortest Stave in Attention: Enhancing Context Awareness of Large Language Models for Effective Tool Use
alibabaresearch/damo-convai
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Specifically, the crucial information in the context will be potentially overlooked by model when it is positioned in the trough zone of the attention waveform, leading to decreased performance.
Time-Optimal Control for High-Order Chain-of-Integrators Systems with Full State Constraints and Arbitrary Terminal States (Extended Version)
Time-optimal control for high-order chain-of-integrators systems with full state constraints and arbitrarily given terminal states remains a challenging problem in the optimal control theory domain, yet to be resolved.
MMP++: Motion Manifold Primitives with Parametric Curve Models
Motion Manifold Primitives (MMP), a manifold-based approach for encoding basic motion skills, can produce diverse trajectories, enabling the system to adapt to unseen constraints.
GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects
Results show that GAMMA significantly outperforms SOTA articulation modeling and manipulation algorithms in unseen and cross-category articulated objects.
Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty
Global navigation satellite systems (GNSS) denied environments/conditions require unmanned aerial vehicles (UAVs) to energy-efficiently and reliably fly.
ToolLLM: Facilitating Large Language Models to Master 16000+ Real-world APIs
Based on ToolBench, we fine-tune LLaMA to obtain an LLM ToolLLaMA, and equip it with a neural API retriever to recommend appropriate APIs for each instruction.
