LEARNING TO PLAN IN HIGH DIMENSIONS VIA NEURAL EXPLORATION-EXPLOITATION TREES

Binghong Chen, Bo Dai, Qinjie Lin, Guo Ye, Han Liu, Le Song

Research output: Contribution to conferencePaperpeer-review

22 Scopus citations

Abstract

We propose a meta path planning algorithm named Neural Exploration-Exploitation Trees (NEXT) for learning from prior experience for solving new path planning problems in high dimensional continuous state and action spaces. Compared to more classical sampling-based methods like RRT, our approach achieves much better sample efficiency in high-dimensions and can benefit from prior experience of planning in similar environments. More specifically, NEXT exploits a novel neural architecture which can learn promising search directions from problem structures. The learned prior is then integrated into a UCB-type algorithm to achieve an online balance between exploration and exploitation when solving a new problem. We conduct thorough experiments to show that NEXT accomplishes new planning problems with more compact search trees and significantly outperforms state-of-the-art methods on several benchmarks.

Original languageEnglish (US)
StatePublished - 2020
Event8th International Conference on Learning Representations, ICLR 2020 - Addis Ababa, Ethiopia
Duration: Apr 30 2020 → …

Conference

Conference8th International Conference on Learning Representations, ICLR 2020
Country/TerritoryEthiopia
CityAddis Ababa
Period4/30/20 → …

ASJC Scopus subject areas

  • Education
  • Linguistics and Language
  • Language and Linguistics
  • Computer Science Applications

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