Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains
Troy McMahon,Aravind Sivaramakrishnan,Kushal Kedia,Edgar Granados,Kostas E. Bekris,Troy McMahon,Aravind Sivaramakrishnan,Kushal Kedia,Edgar Granados,Kostas E. Bekris
This paper explores learning an effective controller for improving the efficiency of kinodynamic planning for vehicular systems navigating uneven terrains. It describes the pipeline for training the corresponding controller and using it for motion planning purposes. The training process uses a soft actor-critic approach with hindsight experience replay to train a model, which is parameterized by t...
