STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent.
Yewon LeePhilip HuangKrishna Murthy JatavallabhulaAndrew Zou LiFabian DamkenEric HeidenKevin SmithDerek NowrouzezahraiFabio RamosFlorian ShkurtiPublished in: CoRR (2023)
Keyphrases
- motion planning
- loss function
- objective function
- degrees of freedom
- path planning
- mobile robot
- robot arm
- trajectory planning
- cost function
- humanoid robot
- robotic tasks
- image segmentation
- inverse kinematics
- obstacle avoidance
- mechanical systems
- hough transform
- multi robot
- optical flow
- robotic arm
- belief space
- object detection
- configuration space
- manipulation tasks
- nearest neighbor searching
- autonomous mobile robot
- collision free
- robot navigation