In the published iteration, I don't use MoveIt! at all. Details of why I phased it out are in the blog. It's not my algorithm (i wish it was !); but yes it could be an alternative to RRT. Obstacle avoidance will be somewhat involved because the state has to incorporate information about occupied voxels and the reward function has to be modified to include a cost for distance to collision objects. --- [Visit Topic](https://discourse.ros.org/t/using-reinforcement-learning-to-perform-motion-planning-for-a-yumi-robot/1030/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: