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04/11/2021
Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning
Sampling-based motion planners rely on incremental densification to disc...
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02/27/2020
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Collision checking is a computational bottleneck in motion planning, req...
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07/22/2019
LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning
We consider the problem of leveraging prior experience to generate roadm...
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04/04/2019
Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles
Lazy search algorithms can efficiently solve problems where edge evaluat...
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10/24/2018
Sample-Efficient Learning of Nonprehensile Manipulation Policies via Physics-Based Informed State Distributions
This paper proposes a sample-efficient yet simple approach to learning c...
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10/01/2018
Bayesian Policy Optimization for Model Uncertainty
Addressing uncertainty is critical for autonomous systems to robustly ad...
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03/13/2018