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Shuijing Liu, Kaiwen Hong, Neeloy Chakraborty, and Katherine Driggs-Campbell
University of Illinois Urbana-Champaign
Under review
Real world results
Real world results
Demonstration video in real world
Simulation results
Simulation results
Our simulation environment
Episode 1: Most obstacles are visible and plays an important role to the robot
Effectiveness of scene representation
Object-centric (Success)
Raw point cloud (Collision)
Ours (Success)
Effectiveness of attention networks
Ours, RH (Collision)
Ours, RH + OH (Success)
Ours, RH + OH + HH (Success)
Episode 2: Only a small amount of obstacles are visible and plays an important role to the robot
Object-centric (Collision)
Raw point cloud (Timeout)
Ours (Success)
Failure cases of ours: The RL policy sometimes have difficulties in long-horizon planning
Ours (Timeout)
Ours (Timeout)
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