DAMON: Dynamic Amorphous Obstacle Navigation using Topological Manifold Learning and Variational Autoencoding
Apan Dastider,Mingjie Lin,Apan Dastider,Mingjie Lin
DAMON leverages manifold learning and variational autoencoding to achieve obstacle avoidance, allowing for motion planning through adaptive graph traversal in a pre-learned low-dimensional hierarchically-structured manifold graph that captures intricate motion dynamics between a robotic arm and its obstacles. This versatile and reusable approach is applicable to various collaboration scenarios. Th...
