Motion Planning
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Benchmarks
nuScenes
Most implemented
Complex-YOLO: Real-time 3D Object Detection on Point Clouds
Learning Latent Dynamics for Planning from Pixels
Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learning
SigmaRL: A Sample-Efficient and Generalizable Multi-Agent Reinforcement Learning Framework for Motion Planning
Papers
PccDiffuser: Multi-solution Motion Planning for Continuum Robots
We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multiple candidate solutions in parallel, which…
Computational EfficiencyGraph Neural NetworkMotion PlanningOne Diffusion Model, Two Roles: Guided Trajectory Planning and Safety-Critical Scenario Generation in Closed-Loop Simulation
Diffusion probabilistic models can capture the multi-modal, interaction-rich distribution of joint future trajectories in driving scenes. We show that a single pretrained diffusion traffic model can serve two complementa…
Trajectory PlanningAutonomous DrivingMotion PlanningPlan Along the Way: Event-Triggered Foundation-Model Planning for TAMP Execution in Partially Observable Manipulation
Manipulation in partially observable environments requires planning under incomplete scene information. In such settings, an initially valid plan may execute successfully yet remain insufficient for task completion. Exis…
Motion PlanningEmbodied Scene Rearrangement Planning
This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to rearrange furniture in 3D scenes to match a target configuration using only egocentric observations and a top-…
Scene UnderstandingMotion PlanningActive sensing to characterize the heterogeneity of plant stress
While most phenotyping platforms rely primarily on image-based measurements, advanced plant characterization requires the integration of active physiological sensing modali- ties such as chlorophyll fluorescence. We pres…
Motion PlanningPass the Bucket: Efficient, Robust, Local Load Balancing for Teams of Heterogeneous Robots
We study the problem of decentralized, self-organized task sharing for a swarm of heterogeneous robots that collaborate in transportation or other objectives that require coordinated motion planning. To this end, we pres…
Motion Planning