yrlu/path_planning_imitation_learning

Path planning on high resolution aerial map based on imitation learning. Learn a cost-to-go map from demonstrations.

Path Planning on Aerial Map with Imitation Learning

UPenn ESE 650 Learning in Robotics, Project 5: Learn a cost-to-go map from demonstrations.

• Detailed project description can be found at report/ese650proj5_report_luyiren.pdf
• Presentation slides can be found at report/ese650proj5_slides_luyiren.pdf

Code

• Execute submission/path_planning_test.m
• Driving and walking feature maps and cost maps are in submission/feat_eng_maps5 and submission/walk_feat_maps respectively.

Visualizations

• Greens

• Cost map for driving

• Cost map for walking