[ros-users] [Discourse.ros.org] [ROS Projects] Using Reinforcement Learning to Perform Motion Planning for a YuMi Robot

[roboSamir]

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.






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