3 papers
cs.RO2019
RL-RRT: Kinodynamic Motion Planning via Learning Reachability Estimators from RL Policies
Hao-Tien Lewis Chiang, Jasmine Hsu, Marek Fiser +2
This paper addresses two challenges facing sampling-based kinodynamic motion planning: a way to identify good candidate states for local transitions and the subsequent computationa…
cs.RO2019
Long-Range Indoor Navigation with PRM-RL
Anthony Francis, Aleksandra Faust, Hao-Tien Lewis Chiang +4
Long-range indoor navigation requires guiding robots with noisy sensors and controls through cluttered environments along paths that span a variety of buildings. We achieve this wi…
cs.RO2018
PEARL: PrEference Appraisal Reinforcement Learning for Motion Planning
Aleksandra Faust, Hao-Tien Lewis Chiang, Lydia Tapia
Robot motion planning often requires finding trajectories that balance different user intents, or preferences. One of these preferences is usually arrival at the goal, while anothe…