Collision-free Path Planning in the Latent Space through cGANs

02/15/2022

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We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides this collision-free latent space after which any planner, using any optimization conditions, can be used to generate the most suitable paths on the fly. We successfully verified this method with a simulated two-link robot arm.

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Collision-free Path Planning in the Latent Space through cGANs

Collision-free Path Planning on Arbitrary Optimization Criteria in the Latent Space through cGANs

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Language-Conditioned Path Planning

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

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Collision-free Path Planning in the Latent Space through cGANs

Related Research

Collision-free Path Planning on Arbitrary Optimization Criteria in the Latent Space through cGANs

Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation

Language-Conditioned Path Planning

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Humanoid Path Planning over Rough Terrain using Traversability Assessment

Improving Path Planning Performance through Multimodal Generative Models with Local Critics

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