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Thai Duong, Clayton W. Ramsey, Zachary Kingston, and Wil Thomason are with the Department of Computer Science, Rice University, Houston, TX, 77005, USA.Lydia E. Kavraki is with the Department of Computer Science, Rice University, Houston, TX, 77005 USA, and the Ken Kennedy Institute, Houston, TX, 77005 USA. Correspondence: thaiduong@rice.edu, kavraki@rice.edu
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Kinodynamic motion planning just got a whole lot faster: AkinoPDF achieves microsecond-level planning times by exploiting differential flatness for analytical solutions.
Forget retraining: a single, carefully chosen noise vector can boost your robot's pre-trained policy performance by up to 60% in the real world.
