Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robotic Motion Planning using Learned Critical Sources and Local
  Sampling   Sampling based methods are widely used for robotic motion planning.
Traditionally, these samples are drawn from probabilistic ( or deterministic )
distributions to cover the state space uniformly. Despite being
probabilistically complete, they fail to find a feasible path in a reasonable
amount of time in constrained environments where it is essential to go through
narrow passages (bottleneck regions). Current state of the art techniques train
a learning model (learner) to predict samples selectively on these bottleneck
regions. However, these algorithms depend completely on samples generated by
this learner to navigate through the bottleneck regions. As the complexity of
the planning problem increases, the amount of data and time required to make
this learner robust to fine variations in the structure of the workspace
becomes computationally intractable. In this work, we present (1) an efficient
and robust method to use a learner to locate the bottleneck regions and (2) two
algorithms that use local sampling methods to leverage the location of these
bottleneck regions for efficient motion planning while maintaining
probabilistic completeness.
  We test our algorithms on 2 dimensional planning problems and 7 dimensional
robotic arm planning, and report significant gains over heuristics as well as
learned baselines.

2
The categories of this paper are: math
33
The categories of this paper are: plasm-ph
8
The categories of this paper are: hep-ex
29
The categories of this paper are: funct-an
16
The categories of this paper are: stat
21
The categories of this paper are: adap-org
31
The categories of this paper are: ao-sci
15
The categories of this paper are: nucl-ex
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
4
The categories of this paper are: cond-mat
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
18
The categories of this paper are: econ
17
The categories of this paper are: q-fin