论文标题
[重新]使用变压器的可区分空间计划
[Re] Differentiable Spatial Planning using Transformers
论文作者
论文摘要
该报告涵盖了我们对Chaplot等人的“使用变压器的可区分空间计划”的复制工作。 。在本文中，考虑了以可不同方式进行空间路径计划的问题。他们表明，他们提出的使用空间计划变压器的方法优于先前数据驱动的模型，并利用可不同的结构来学习映射而无需同时地面真相图。我们通过重现其实验并在新数据上测试其方法来验证这些主张。我们还研究了图中计划准确性的稳定性，并提高了障碍物的复杂性。努力调查和验证映射模块的学习的努力是由于缺乏计算资源和无法到达的作者而导致的失败。
This report covers our reproduction effort of the paper 'Differentiable Spatial Planning using Transformers' by Chaplot et al. . In this paper, the problem of spatial path planning in a differentiable way is considered. They show that their proposed method of using Spatial Planning Transformers outperforms prior data-driven models and leverages differentiable structures to learn mapping without a ground truth map simultaneously. We verify these claims by reproducing their experiments and testing their method on new data. We also investigate the stability of planning accuracy with maps with increased obstacle complexity. Efforts to investigate and verify the learnings of the Mapper module were met with failure stemming from a paucity of computational resources and unreachable authors.
