Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Jun Yamada,Chia-Man Hung,Jack Collins,Ioannis Havoutis,Ingmar Posner,Jun Yamada,Chia-Man Hung,Jack Collins,Ioannis Havoutis,Ingmar Posner
Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However, the real-world applicability of recent work in this domain remains limited by the need to express obstacle information directly in state-space, involving simple g...
