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plan2plan

Description

A GAN (Generative Adversarial Network) model for generating more optimal paths that closely resemble those produced by the A* algorithm when conditioned on a 2D obstacle map and an initial RRT (Rapidly-exploring Random Tree) path.

Model Architecture

Generator Architecture:

Generator Architecture

Loss Function:

Loss Function

Results

Transformed Generated Path

Usage

To collect 2D RRT and A* plans generated on random environments with random start and end goal positions, please refer to the script located at PathPlanning/collect_data.py. For details on the training pipeline, see the Modeling/Plan2Plan_Transformer.ipynb script.