Enhancing Value Estimation Policies by Post-Hoc Symmetry Exploitation in Motion Planning Tasks

Yazied Hasan,Ariana M. Villegas-Suarez,Evan C. Carter,Aleksandra Faust,Lydia Tapia,Yazied Hasan,Ariana M. Villegas-Suarez,Evan C. Carter,Aleksandra Faust,Lydia Tapia

Motion planning tasks are often innately invariant to certain geometric transformations, or in other words, symmetric. This property, however, is not always reflected in learned policies that are trained on these tasks. Although this asymmetry can be addressed through data augmentation or additional training samples, doing so comes at a cost of increased training time. Instead of trying to remedy ...

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