Motion Planning Networks

Implementation of MPNet: Motion Planning Networks. [arXiv1] [arXiv2]

The code can easily be adapted for Informed Neural Sampling.

Contains

• Data Generation
  • Any existing classical motion planner can be used to generate datasets. However, we provide following implementations in C++:
    • P-RRT*
    • RRT*
    • Example dataset: simple2D
    • Example dataset: Complex3D
• MPNet algorithm
• A navie python visualization files

Data Description

• Simple 2D has 7 blocks each of size 5x5 that are placed randomly.
• Complex 3D contains 10 blocks with sizes as follow:
  • shape=[[5.0,5.0,10.0],[5.0,10.0,5.0],[5.0,10.0,10.0], [10.0,5.0,5.0],[10.0,5.0,10.0],[10.0,10.0,5.0], [10.0,10.0,10.0],[5.0,5.0,5.0],[10.0,10.0,10.0],[5.0,5.0,5.0]]
• e0-109 has the training and testing paths in 110 different environments.
  • 0-100 environments and 0-4000 paths/environment are for training.
  • Seen test dataset: 0-100 envs and 4000-4200=200 paths/env.
  • Unseen test dataset: 100-110 envs and 0-2000 paths/env.
• obs_cloud is the point-cloud of randomly generated 30,000 environments.
  • 0-110 corresponds to the same environments for which path data is provided.
  • You may use full dataset to train encoder network via unsupervised learning.
• obs.dat contains the center location (x,y) of each obstacle in the environments.
• obs_perm2.dat contains the order in which the blocks should be placed in preset locations given by obs.dat file to setup environments.
  • For instance, in complex 3D, the permutation 8342567901 indicates obstacle #8 of size 10x10x10 should be placed at the location #0 given by obs.dat.

Generating your own data

• Define a region of operation, for instance in simple2D, it is 20x20
• Decide how many obstacles (r) you would like to place in the region. In the case of simple2D, we have r=7 5x5 blocks.
• Generate random N locations to place r obstacles in the region. In the case of simple2D, we generated N=20.
• For N locations and r obstacles, apply combinatorics, to generate NCr different environments i.e., in simple 2D NCr= 20C7= 77520
  • The obs_perm2 file contains the combinations, for instance 6432150 indicates to place obstacle#6 at location #0.
• Once obstacles are placed, randomly generate collision-free samples and use them in pairs as stat-goal to generate paths using any classical planne for the training. For classical planners, we recommend using OMPL implementations.

Requirements

• Data Generation

  1. Install libbot2

     • Make sure all dependencies of libbot2 (e.g., lcm) are installed.
     • Install libbot2 with the local installation procedure.
     • Run "make" in the data_generation folder where the README file is located.

  2. Use any compiler such as Netbeans to load the precomplie code.

     • data_generation/src/rrts_main.cpp contains the main rrt/prrt code.

     • data_generation/viewer/src/viewer_main.cpp contains the visualization code.

       • Also checkout comments in data_generation/viewer/src/renderers/graph_renderer.cpp

     • Note: main_viewer and rrts_main should run in parallel as:

       • rrts_main sends the path solution as well as the tree to the main_viewer to publish through local network.
       • data is transmitted through LCM network protocol.

• MPNet

  • PyTorch

Examples

1. Assuming paths to obstacles point-cloud are declared, train obstacle-encoder: python MPNET/AE/CAE.py

2. Assuming paths to demonstration dataset and obstacle-encoder are declared, run mpnet_trainer:

   python MPNET/train.py

3. Run tests by first loading the trained models:

   python MPNET/neuralplanner.py

References

@inproceedings{qureshi2019motion,
  title={Motion planning networks},
  author={Qureshi, Ahmed H and Simeonov, Anthony and Bency, Mayur J and Yip, Michael C},
  booktitle={2019 International Conference on Robotics and Automation (ICRA)},
  pages={2118--2124},
  year={2019},
  organization={IEEE}
}
@inproceedings{qureshi2018deeply,
  title={Deeply Informed Neural Sampling for Robot Motion Planning},
  author={Qureshi, Ahmed H and Yip, Michael C},
  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={6582--6588},
  year={2018},
  organization={IEEE}
}
@article{qureshi2019motion,
  title={Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners},
  author={Qureshi, Ahmed H and Miao, Yinglong and Simeonov, Anthony and Yip, Michael C},
  journal={arXiv preprint arXiv:1907.06013},
  year={2019}
}