首页|New Robotics and Automation Study Results from Harbin Institute of Technology De scribed (Transformer-enhanced Motion Planner: Attention-guided Sampling for Stat e-specific Decision Making)
New Robotics and Automation Study Results from Harbin Institute of Technology De scribed (Transformer-enhanced Motion Planner: Attention-guided Sampling for Stat e-specific Decision Making)
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2024 OCT 03 (NewsRx)-By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics - Ro botics and Automation have been published. According to news reporting from Harb in, People's Republic of China, by NewsRx journalists, research stated, "Samplin g-based motion planning (SBMP) algorithms are renowned for their robust global s earch capabilities. However, the inherent randomness in their sampling mechanism s often results in inconsistent path quality and limited search efficiency." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). The news correspondents obtained a quote from the research from the Harbin Insti tute of Technology, "In response to these challenges, this work proposes a novel deep learning-based motion planning framework, named Transformer-Enhanced Motio n Planner (TEMP), which synergizes a Co-Regulation Environmental Information Enc oder (CEIE) with a Motion Planning Transformer (MPT). CEIE converts scenario dat a into encoded environmental information (EEI), providing MPT with an insightful understanding of the environment. MPT leverages an attention mechanism to dynam ically recalibrate its focus on EEI, task objectives, and historical planning da ta, refining the sampling node generation. To demonstrate the capabilities of TE MP, we train our model using a dataset consisting of planning results produced b y RRT*. CEIE and MPT are collaboratively trained, enabling CEIE to autonomously learn and extract patterns from environmental data, thereby forming informative representations that MPT can more effectively interpret and utilize for motion p lanning."
HarbinPeople's Republic of ChinaAsiaRobotics and AutomationRoboticsHarbin Institute of Technology