Gokul Prabhakaran

Riemannian Splat Regression Models for Learning Time Fields on Arbitrary Riemannian Manifolds

Motion planning on arbitrary Riemannian manifolds is an important and difficult problem that frustrates typical planning methods for Euclidean spaces. In particular, motion planning methods that approximate optimal time-to-go functions with neural networks, e.g., Neural Time Fields (NTFields), cannot be directly applie...