Physics-informed Neural Motion Planning on Constraint Manifolds

arXiv:2403.05765v1 Announce Type: cross
Abstract: Constrained Motion Planning (CMP) aims to find a collision-free path between the given start and goal configurations on the kinematic constraint manifolds. These problems appear in various scenarios ranging from object manipulation to legged-robot locomotion. However, the zero-volume nature of manifolds makes the CMP problem challenging, and the state-of-the-art methods still take several seconds to find a path and require a computationally expansive path dataset for imitation learning. Recently, physics-informed motion planning methods have emerged …

abstract arxiv collision cs.lg cs.ro free however manipulation motion planning nature object path physics physics-informed planning robot type