dgpmp2

Differentiable Gaussian Process Motion Planning

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dGPMP2

This library is a PyTorch implementation of dGPMP2 algorithm published in Differentiable Gaussian Process Motion Planning, ICRA 2020.

Installation

  • Install Anaconda (Python 3.7)
  • Clone the repository and run the following steps
    conda create -n diff_gpmp2 python=3.7
    conda env update -n diff_gpmp2 -f environment.yml
    conda activate diff_gpmp2
    
  • Install OMPL with Python bindings (for generating data and expert trajectories)

Usage

  • Dataset generation example
    cd diff_gpmp2/datasets
    sh generate_2d_dataset.sh
    
  • Fully differentiable planning example
    cd examples/
    python diff_gpmp2_2d_example.py
    

Questions & Bug reporting

Please use Github issue tracker to report bugs.

Citing

If you use this library in an academic context, please cite the following publication:

@article{bhardwaj2019differentiable,
  title={Differentiable {G}aussian process motion planning},
  author={Bhardwaj, Mohak and Boots, Byron and Mukadam, Mustafa},
  journal={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020}
}

License

dGPMP2 is released under the BSD license. See LICENSE file.