# Model-Predictive Motion Planning Networks

MPC-MPNet-Path

MPC-MPNetTree

Model Predictive Motion Planning Network (MPC-MPNet) is a neural network-based kinodynamic planning algorithm capable of solving Kinodynamic Motion Planning tasks in seconds with less variability and comparable path quality against a state-of-the-art algorithm that takes minutes to generate solutions with high variability. MPC-MPNet utilize CNN-based neural network to learn environment embedding and predict waypoints satisfying kinodynamic constrains. Our experiments show that MPC-MPNet generalizes to unseen tasks and adapts to high-dimensional problems such as Quadrotor with high success rate and high-quality solutions. MPC-MPNet is fully parallelizable and available for GPU computation, achieving practical completeness and optimality. Our algorithms show theoretical asymptotic optimality when SST is used as a backup planner. Moreover, MPC-MPNet provides a generalized framework for the KMP planner, where multiple variants can easily be adapted.

## Source Code & Supplementary Material

- Paper
- Repository of MPC-MPNet
- Video

## Motion Planning with MPC-MPNet in Cluttered Environments with Underactuated Dynamics

We evaluate MPC-MPNet to plan motion for four underactuated dynamic systems: Acrobot, Cartpole, Car and Quadrotor. The environments are random generated and the start and goal states are unseen during training.

## Acrobot

### MPC-MPNetPath

time=2.967s cost=5.52

### MPC-MPNetTree

time=5.19s cost=5.74

### SST

time=27.82s cost=7.20

### MPC-MPNet-Path

time=0.413s cost=6.98

### MPC-MPNet-Tree

time=8.18s cost=5.50

### SST

time=20.49s cost=6.86

## Cartpole

### MPC-MPNet-Path

time=15.53s cost=6.02

### MPC-MPNet-Tree

time=4.00s cost=6.31

### SST

time=25.44s cost=9.50

### MPC-MPNet-Path

time=2.12s cost=3.49

### MPC-MPNet-Tree

time=0.80s cost=3.00

### SST

time=11.45s cost=5.10

## Car

### MPC-MPNetPath

time=6.48s cost=48.79

### MPC-MPNetTree

time=11.63s cost=52.01

### SST

time=43.83s cost=49.03

### MPC-MPNetPath

time=4.91s cost=33.71

### MPC-MPNetTree

time=7.83s cost=46.13

### SST

time=22.86s cost=70.51

## Quadrotor

### MPC-MPNetPath

time=3.75s cost=14.66

### MPC-MPNetTree

time=7.70s cost=11.45

### SST

time=363.83s cost=15.78

### MPC-MPNetPath

time=0.65s cost=7.416

### MPC-MPNetTree

time=1.71s cost=8.69

### SST

time=107.56 cost=15.044