Improving Efficiency of Sampling-based Motion Planning via Message-Passing Monte Carlo
Track: full paper
Keywords: Graph Neural Networks, Discrepancy Theory, Motion Planning
TL;DR: This paper uses Graph Neural Networks to create more evenly distributed (low-discrepancy) samples for motion planning. This leads to faster planning with fewer samples compared to traditional methods.
Abstract: Sampling-based motion planning methods, while effective in high-dimensional spaces, often suffer from inefficiencies due to irregular sampling distributions, leading to suboptimal exploration of the configuration space. In this paper, we propose an approach that enhances the efficiency of these methods by utilizing low-discrepancy distributions generated through Message-Passing Monte Carlo (MPMC). MPMC leverages Graph Neural Networks (GNNs) to generate point sets that uniformly cover the space, with uniformity assessed using the the $\mathcal{L}_p$-discrepancy measure, which quantifies the irregularity of sample distributions. By improving the uniformity of the point sets, our approach significantly reduces computational overhead and the number of samples required for solving motion planning problems. Experimental results demonstrate that our method outperforms traditional sampling techniques in terms of planning efficiency.
Presenter: ~T._Konstantin_Rusch1
Format: Yes, the presenting author will definitely attend in person because they are attending ICLR for other complementary reasons.
Funding: No, the presenting author of this submission does *not* fall under ICLR’s funding aims, or has sufficient alternate funding.
Anonymization: This submission has been anonymized for double-blind review via the removal of identifying information such as names, affiliations, and identifying URLs.
Submission Number: 30
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