Robotics: Science and Systems XVIII

Meta Value Learning for Fast Policy-Centric Optimal Motion Planning

Siyuan Xu, Minghui Zhu

Abstract:

This paper considers policy-centric optimal motion planning with limited reaction time. The motion planning queries are determined by their goal regions and cost functionals, and are generated over time from a distribution. Once a new query is requested, the robot needs to quickly generate a motion planner which can steer the robot to the goal region while minimizing a cost functional. We develop a meta-learning-based algorithm to compute a meta value function, which can be fast adapted using a small number of samples of a new query. Simulations on a unicycle are conducted to evaluate the developed algorithm and show the anytime property of the proposed algorithm.

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Bibtex:

  
@INPROCEEDINGS{Xu-RSS-22, 
    AUTHOR    = {Siyuan Xu AND Minghui Zhu}, 
    TITLE     = {{Meta Value Learning for Fast Policy-Centric Optimal Motion Planning}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2022}, 
    ADDRESS   = {New York City, NY, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2022.XVIII.061} 
}