This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in seen and unseen environments. It receives environment information as point-clouds, as well as a robot's initial and desired goal configurations and recursively calls itself to bidirectionally generate connectable paths. In addition to finding directly connectable and near-optimal paths in a single pass, we show that worst-case theoretical guarantees can be proven if we merge this neural network strategy with classical sample-based planners in a hybrid approach while still retaining significant computational and optimality improvements. To learn the MPNet models, we present an active continual learning approach that enables MPNet to learn from streaming data and actively ask for expert demonstrations when needed, drastically reducing data for training. We validate MPNet against gold-standard and state-of-the-art planning methods in a variety of problems from 2D to 7D robot configuration spaces in challenging and cluttered environments, with results showing significant and consistently stronger performance metrics, and motivating neural planning in general as a modern strategy for solving motion planning problems efficiently.
Lazy edge evaluation methods, on the other hand, have shown to exhibit significant improvements in computation speeds by evaluating edges only along the potential path solutions. However, these methods are critically dependent on the underlying edge selector and tend to exhibit limited performance in cluttered environments @cite_10 . Bidirectional path generation improves the algorithm performance in narrow passages but still inherits the limitations of baseline SMPs @cite_39 @cite_58 .
@cite_58 @cite_10 @cite_39
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We present a generic exact method for minimizing the project duration of the resource-constrained project scheduling problem with generalized precedence relations (Rcpsp max). This is a very general scheduling model with applications areas such as project management and production planning. Our method uses lazy clause generation, i.e., a hybrid of finite domain and Boolean satisfiability solving, in order to apply no-good learning and conflict-driven search to the solution generation. Our experiments show the benefit of lazy clause generation for finding an optimal solution and proving its optimality in comparison to other state-of-the-art exact and non-exact methods. In comparison to other methods, our method is able to find better solutions faster on the Rcpsp max benchmarks. Indeed, our method closes 573 open problem instances and generates better solutions in most of the remaining instances. Surprisingly, although ours is an exact method, it outperforms the published non-exact methods on these benchmarks in terms of the quality of solutions. During the last years, speed-up techniques for Dijkstra 's algorithm have been developed that make the computation of shortest paths a matter of microseconds even on huge road networks. The most sophisticated methods enhance the graph by inserting shortcuts , i.e. additional edges, that represent shortest paths in the graph. Until now, all existing shortcut-insertion strategies are heuristics and no theoretical results on the topic are known. In this work, we formalize the problem of adding shortcuts as a graph augmentation problem, study the algorithmic complexity of the problem, give approximation algorithms and show how to stochastically evaluate a given shortcut assignment on graphs that are too big to evaluate it exactly. In this paper, we develop a novel paradigm, namely hypergraph shift, to find robust graph modes by probabilistic voting strategy, which are semantically sound besides the self-cohesiveness requirement in forming graph modes. Unlike the existing techniques to seek graph modes by shifting vertices based on pair-wise edges (i.e, an edge with 2 ends), our paradigm is based on shifting high-order edges (hyperedges) to deliver graph modes. Specifically, we convert the problem of seeking graph modes as the problem of seeking maximizers of a novel objective function with the aim to generate good graph modes based on sifting edges in hypergraphs. As a result, the generated graph modes based on dense subhypergraphs may more accurately capture the object semantics besides the self-cohesiveness requirement. We also formally prove that our technique is always convergent. Extensive empirical studies on synthetic and real world data sets are conducted on clustering and graph matching. They demonstrate that our techniques significantly outperform the existing techniques. Feature computation and exhaustive search have significantly restricted the speed of graph-based dependency parsing. We propose a faster framework of dynamic feature selection, where features are added sequentially as needed, edges are pruned early, and decisions are made online for each sentence. We model this as a sequential decision-making problem and solve it by imitation learning techniques. We test our method on 7 languages. Our dynamic parser can achieve accuracies comparable or even superior to parsers using a full set of features, while computing fewer than 30 of the feature templates.