{"paper":{"title":"Neural Collision Clearance Estimator for Batched Motion Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Aleksandra Faust, Brian Ichter, J. Chase Kew, Maryam Bandari, Tsang-Wei Edward Lee","submitted_at":"2019-10-14T05:36:51Z","abstract_excerpt":"We present a neural network collision checking heuristic, ClearanceNet, and a planning algorithm, CN-RRT. ClearanceNet learns to predict separation distance (minimum distance between robot and workspace) with respect to a workspace. CN-RRT then efficiently computes a motion plan by leveraging three key features of ClearanceNet. First, CN-RRT explores the space by expanding multiple nodes at the same time, processing batches of thousands of collision checks. Second, CN-RRT adaptively relaxes its clearance requirements for more difficult problems. Third, to repair errors, CN-RRT shifts its nodes"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.05917","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1910.05917/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}