Simulation and Retargeting of Complex Multi-Character Interactions
Yunbo Zhang, Deepak Gopinath, Yuting Ye, Jessica Hodgins, Greg Turk, Jungdam Won
International Conference on Robotics and Automation (ICRA)
Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance (and rarely discussed in detail). Setting these parameters properly can have a significant impact on the practical performance of the algorithm, sometimes making the difference between finding a feasible plan or failing at the task entirely. We propose a method for leveraging past experience to learn how to automatically adapt the parameters of Gaussian Process Motion Planning (GPMP) algorithms. Specifically, we propose a differentiable extension to the GPMP2 algorithm, so that it can be trained end-to-end from data. We perform several experiments that validate our algorithm and illustrate the benefits of our proposed learning-based approach to motion planning.
Yunbo Zhang, Deepak Gopinath, Yuting Ye, Jessica Hodgins, Greg Turk, Jungdam Won
Harrison Jesse Smith, Qingyuan Zheng, Yifei Li, Somya Jain, Jessica K. Hodgins
Simran Arora, Patrick Lewis, Angela Fan, Jacob Kahn, Christopher Ré