Motion Planning by Learning the Solution Manifold in Trajectory Optimization

Autor:	Osa, Takayuki
Rok vydání:	2021
Předmět:	Computer Science - Robotics Computer Science - Machine Learning
Druh dokumentu:	Working Paper
Popis:	The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple solutions for motion planning, they are limited to generating a finite set of solutions. To address this issue, we presents an optimization method that learns an infinite set of solutions in trajectory optimization. In our framework, diverse solutions are obtained by learning latent representations of solutions. Our approach can be interpreted as training a deep generative model of collision-free trajectories for motion planning. The experimental results indicate that the trained model represents an infinite set of homotopic solutions for motion planning problems. Comment: 24 pages, to appear in the International Journal of Robotics Research
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2107.05842 Zobrazit plný text záznamu View this record from Arxiv