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simmediumimitationmetric · varies
SanD-Planner: Sample-Efficient Diffusion Planner in B-Spline Space for Robust Local Navigation
Description
The challenge of generating reliable local plans has long hindered practical applications in highly cluttered and dynamic environments. Key fundamental bottlenecks include acquiring large-scale expert demonstrations across diverse scenes and improving learning efficiency with limited data. This paper proposes SanD-Planner, a sample-efficient diffusion-based local planner that conducts depth image-based imitation learning within the clamped B-spline space. By operating within this compact space,