TY - GEN
T1 - Repetition sampling for efficiently planning similar constrained manipulation tasks
AU - Lehner, Peter
AU - Albu-Schaffer, Alin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - We present repetition sampling, a new adaptive strategy for sampling based planning, which extracts information from previous solutions to focus the search for a similar task on relevant configuration space. We show how to generate distributions for repetition sampling by learning Gaussian Mixture Models from prior solutions. We present how to bias a sampling based planner with the learned distribution to generate new paths for similar tasks. We illustrate our method in a simple maze which explains the generation of the distribution and how repetition sampling can generalize over different environments. We show how to apply repetition sampling to similar constrained manipulation tasks and present our results including significant speedup in execution time when compared to uniform sampling.
AB - We present repetition sampling, a new adaptive strategy for sampling based planning, which extracts information from previous solutions to focus the search for a similar task on relevant configuration space. We show how to generate distributions for repetition sampling by learning Gaussian Mixture Models from prior solutions. We present how to bias a sampling based planner with the learned distribution to generate new paths for similar tasks. We illustrate our method in a simple maze which explains the generation of the distribution and how repetition sampling can generalize over different environments. We show how to apply repetition sampling to similar constrained manipulation tasks and present our results including significant speedup in execution time when compared to uniform sampling.
UR - http://www.scopus.com/inward/record.url?scp=85041954391&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206116
DO - 10.1109/IROS.2017.8206116
M3 - Conference contribution
AN - SCOPUS:85041954391
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2851
EP - 2856
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -