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- W4281783712 abstract "Trajectory optimization (TO) aims to find a sequence of valid states while minimizing costs. However, its fine validation process is often costly due to computationally expensive collision searches, otherwise coarse searches lower the safety of the system losing a precise solution. To resolve the issues, we introduce a new collision-distance estimator, GraphDistNet, that can precisely encode the structural information between two geometries by leveraging edge feature-based convolutional operations, and also efficiently predict a batch of collision distances and gradients through 25,000 random environments with a maximum of 20 unforeseen objects. Further, we show the adoption of attention mechanism enables our method to be easily generalized in unforeseen complex geometries toward TO. Our evaluation show GraphDistNet outperforms state-of-the-art baseline methods in both simulated and real world tasks." @default.
- W4281783712 created "2022-06-13" @default.
- W4281783712 creator A5056316078 @default.
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- W4281783712 date "2022-06-03" @default.
- W4281783712 modified "2023-09-26" @default.
- W4281783712 title "GraphDistNet: A Graph-based Collision-distance Estimator for Gradient-based Trajectory" @default.
- W4281783712 doi "https://doi.org/10.48550/arxiv.2206.01517" @default.
- W4281783712 hasPublicationYear "2022" @default.
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