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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2405.11317 |
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| _version_ | 1866910562481340416 |
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| author | Lu, Yunfan Ma, Yuchen Hsu, David Cai, Panpan |
| author_facet | Lu, Yunfan Ma, Yuchen Hsu, David Cai, Panpan |
| contents | Robot motion planning has made vast advances over the past decades, but the challenge remains: robot mobile manipulators struggle to plan long-range whole-body motion in common household environments in real time, because of high-dimensional robot configuration space and complex environment geometry. To tackle the challenge, this paper proposes Neural Randomized Planner (NRP), which combines a global sampling-based motion planning (SBMP) algorithm and a local neural sampler. Intuitively, NRP uses the search structure inside the global planner to stitch together learned local sampling distributions to form a global sampling distribution adaptively. It benefits from both learning and planning. Locally, it tackles high dimensionality by learning to sample in promising regions from data, with a rich neural network representation. Globally, it composes the local sampling distributions through planning and exploits local geometric similarity to scale up to complex environments. Experiments both in simulation and on a real robot show \NRP yields superior performance compared to some of the best classical and learning-enhanced SBMP algorithms. Further, despite being trained in simulation, NRP demonstrates zero-shot transfer to a real robot operating in novel household environments, without any fine-tuning or manual adaptation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_11317 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Neural Randomized Planning for Whole Body Robot Motion Lu, Yunfan Ma, Yuchen Hsu, David Cai, Panpan Robotics Robot motion planning has made vast advances over the past decades, but the challenge remains: robot mobile manipulators struggle to plan long-range whole-body motion in common household environments in real time, because of high-dimensional robot configuration space and complex environment geometry. To tackle the challenge, this paper proposes Neural Randomized Planner (NRP), which combines a global sampling-based motion planning (SBMP) algorithm and a local neural sampler. Intuitively, NRP uses the search structure inside the global planner to stitch together learned local sampling distributions to form a global sampling distribution adaptively. It benefits from both learning and planning. Locally, it tackles high dimensionality by learning to sample in promising regions from data, with a rich neural network representation. Globally, it composes the local sampling distributions through planning and exploits local geometric similarity to scale up to complex environments. Experiments both in simulation and on a real robot show \NRP yields superior performance compared to some of the best classical and learning-enhanced SBMP algorithms. Further, despite being trained in simulation, NRP demonstrates zero-shot transfer to a real robot operating in novel household environments, without any fine-tuning or manual adaptation. |
| title | Neural Randomized Planning for Whole Body Robot Motion |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.11317 |