Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains.
Troy McMahonAravind SivaramakrishnanKushal KediaEdgar GranadosKostas E. BekrisPublished in: IROS (2022)
Keyphrases
- motion planning
- multiresolution
- monte carlo
- real time rendering
- neural network
- three dimensional
- reinforcement learning
- decision support
- control law
- virtual environment
- degrees of freedom
- stochastic domains
- test bed
- heuristic search
- path planning
- generative model
- plan recognition
- adaptive control
- ai planning
- plan execution
- legged robots
- control system
- data sets