Generalizable Motion Planning via Operator Learning

Sharath Matada, Luke Bhan, Yuanyuan Shi, Nikolay Atanasov

Keywords: Motion planning, operator learning, value function approximation, Eikonal PDE

Abstract:

In this work, we introduce a planning neural operator (PNO) for predicting the value function of a motion planning problem. We recast value function approximation as learning a single operator from the cost function space to the value function
space, which is defined by an Eikonal partial differential equation (PDE). Therefore, our PNO model, despite being trained with a finite number of samples at coarse resolution, inherits the zero-shot super-resolution property of neural operators. We demonstrate accurate value function approximation at 16× the training resolution on the MovingAI lab’s 2D city dataset, compare with state-of-the-art neural value
function predictors on 3D scenes from the iGibson building dataset and showcase optimal planning with 4-joint robotic manipulators. Lastly, we investigate employing the value function output of PNO as a heuristic function to accelerate motion planning. We show theoretically that the PNO heuristic is $\epsilon$-consistent by introducing an inductive bias layer that guarantees our value functions satisfy the triangle inequality. With our heuristic, we achieve a $30$% decrease in nodes visited while obtaining near optimal path lengths on the MovingAI lab 2D city dataset, compared to classical planning methods (A$^\ast$, RRT$^\ast$).

Primary Area: applications to robotics, autonomy, planning

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Submission Number: 8465