{"paper":{"title":"Long-Range Indoor Navigation with PRM-RL","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Aleksandra Faust, Anthony Francis, Hao-Tien Lewis Chiang, Jasmine Hsu, J. Chase Kew, Marek Fiser, Tsang-Wei Edward Lee","submitted_at":"2019-02-25T17:20:06Z","abstract_excerpt":"Long-range indoor navigation requires guiding robots with noisy sensors and controls through cluttered environments along paths that span a variety of buildings. We achieve this with PRM-RL, a hierarchical robot navigation method in which reinforcement learning agents that map noisy sensors to robot controls learn to solve short-range obstacle avoidance tasks, and then sampling-based planners map where these agents can reliably navigate in simulation; these roadmaps and agents are then deployed on robots, guiding them along the shortest path where the agents are likely to succeed. Here we use "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.09458","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/1902.09458/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"}