最適輸送による運動計画の高速化

原文アブストラクト

Motion planning is still an open problem for many disciplines, e.g., robotics, autonomous driving, due to their need for high computational resources that hinder real-time, efficient decision-making. A class of methods striving to provide smooth solutions is gradient-based trajectory optimization. However, those methods usually suffer from bad local minima, while for many settings, they may be inapplicable due to the absence of easy-to-access gradients of the optimization objectives. In response to these issues, we introduce Motion Planning via Optimal Transport (MPOT) -- a \textit{gradient-free} method that optimizes a batch of smooth trajectories over highly nonlinear costs, even for high-dimensional tasks, while imposing smoothness through a Gaussian Process dynamics prior via the planning-as-inference perspective. To facilitate batch trajectory optimization, we introduce an original zero-order and highly-parallelizable update rule: the Sinkhorn Step, which uses the regular polytope family for its search directions. Each regular polytope, centered on trajectory waypoints, serves as a local cost-probing neighborhood, acting as a \textit{trust region} where the Sinkhorn Step "transports" local waypoints toward low-cost regions. We theoretically show that Sinkhorn Step guides the optimizing parameters toward local minima regions of non-convex objective functions. We then show the efficiency of MPOT in a range of problems from low-dimensional point-mass navigation to high-dimensional whole-body robot motion planning, evincing its superiority compared to popular motion planners, paving the way for new applications of optimal transport in motion planning.