- The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. -Inspired by the ability of humans to leverage their prior experience to quickly solve new tasks, we seek to apply large-scale data-driven learning to the problem of motion planning. +The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. +For complex, cluttered scenes, motion planning approaches can often take minutes to produce a solution, while humans are able to accurately and safely reach any goal in seconds by leveraging their prior experience. +We seek to do the same by applying data-driven learning at scale to the problem of motion planning. Our approach builds a large number of complex scenes in simulation, collects expert data from a motion planner, then distills it into a reactive generalist policy. -We then combine this with simple forward samplers and lightweight optimization to obtain a safe path for real world deployment. -We perform a thorough evaluation of our method on 64 motion planning tasks across four diverse environments with randomized poses, scenes and obstacles, in the real world, demonstrating an improvement of 23%, 17% and 79% motion planning success rate over state of the art sampling, optimization and learning based planning methods. +We then combine this with lightweight optimization to obtain a safe path for real world deployment. +We perform a thorough evaluation of our method on 64 real-world motion planning tasks across four diverse environments with randomized poses, scenes and obstacles, in the real world, demonstrating an improvement of 23, 17 and 79 motion planning success rate over state of the art sampling, optimization and learning based planning methods.
@article{dalal2024neuralmp,
title={Neural MP: A Generalist Neural Motion Planner},
author={Murtaza Dalal and Jiahui Yang and Russell Mendonca and Youssef Khaky and Ruslan Salakhutdinov and Deepak Pathak},
-journal = {},
+journal = {arXiv preprint arXiv:2409.05864},
year={2024},
}