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We present a neural network collision checking heuristic, ClearanceNet, and a planning algorithm, CN-RRT.
A fast procedure for computing the distance between objects in three-dimensional space
E. Gilbert, D. W. Johnson, and S. Keerthi · 1988
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A fast algorithm for incremental distance calculation
M. C. Lin and J. F. Canny · 1991
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Probabilistic roadmap methods are embarrassingly parallel
N. M. Amato and L. K. Dale · 1999
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Fast and simple 2d geometric proximity queries using graphics hardware
K. E. Hoff, A. Zaferakis, M. Lin, and D. Manocha · 2001
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Randomized kinodynamic planning
S. M. LaValle and J. James J. Kuffner · 2001
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Planning Algorithms
S. M. LaValle · 2006
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Massively parallelizing the rrt and the rrt*
J. Bialkowski, S. Karaman, and E. Frazzoli · 2011
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Information-theoretic regret bounds for gaussian process optimization in the bandit setting
N. Srinivas, A. Krause, S. Kakade, and M. Seeger · 2012
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Efficient penetration depth approximation using active learning
J. Pan, X. Zhang, and D. Manocha · 2013
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Sampling-based robot motion planning: A review
M. Elbanhawi and M. Simic · 2014
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Efficient collision checking in sampling-based motion planning via safety certificates
J. Bialkowski, M. Otte, S. Karaman, and E. Frazzoli · 2016
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Learning high-dimensional mixture models for fast collision detection in rapidly-exploring random trees
J. Huh and D. D. Lee · 2016
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Fast probabilistic collision checking for sampling-based motion planning using locality-sensitive hashing
J. Pan and D. Manocha · 2016
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Google vizier: A service for black-box optimization
D. Golovin, B. Solnik, S. Moitra, G. Kochanski, J. Karro, and D. Sculley · 2017
Learning sampling distributions for robot motion planning
B. Ichter, J. Harrison, and M. Pavone · 2018
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2019
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Estimating configuration space belief from collision checks for motion planning
S. Kumar, S. Choudhary, and S. Srinivasa · 2019
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Predicting collision detection with a two-layer neural network
T. N. Tran, J. Denny, and C. Ekenna · 2019
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M. Yavari, K. Gupta, and M. Mehrandezh · 2019
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Fast swept volume estimation with deep learning
L. Chiang, A. Faust, S. Sugaya, and L. Tapia · 2018
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Data-driven planning via imitation learning
S. Choudhury, M. Bhardwaj, S. Arora, A. Kapoor, G. Ranade, S. Scherer, and D. Dey · 2018
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Learning-based proxy collision detection for robot motion planning applications
N. Das and M. Yip · 2020
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Interactive gibson: A benchmark for interactive navigation in cluttered environments, 2020
F. Xia, W. B. Shen, C. Li, P. Kasimbeg, M. Tchapmi, A. Toshev, R. Martín-Martín, and S. Savarese · 2020
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