Learned Sampling Distributions for Efficient Planning in Hybrid Geometric and Object-Level Representations
Katherine Liu,Martina Stadler,Nicholas Roy,Katherine Liu,Martina Stadler,Nicholas Roy
We would like to enable a robotic agent to quickly and intelligently find promising trajectories through structured, unknown environments. Many approaches to navigation in unknown environments are limited to considering geometric information only, which leads to myopic behavior. In this work, we show that learning a sampling distribution that incorporates both geometric information and explicit, o...
