Zero-Shot Constrained Motion Planning Transformers Using Learned Sampling Dictionaries.
Jacob J. JohnsonAhmed H. QureshiMichael C. YipPublished in: ICRA (2024)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- path planning
- mobile robot
- humanoid robot
- robot arm
- robotic tasks
- multi robot
- belief space
- obstacle avoidance
- autonomous mobile robot
- mechanical systems
- manipulation tasks
- inverse kinematics
- sparse representation
- configuration space
- robotic arm
- dynamic environments
- object detection
- potential field
- viewpoint