Differentiable Constrained Imitation Learning for Robot Motion Planning and Control

Understand

Motion planning and control are crucial components of robotics applications like automated driving.

• Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions.
• Direct methods from optimal control solve a constrained optimization problem.
• However, in many applications finding a proper cost function is inherently difficult because of the weighting of partially conflicting objectives.