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About this paper
Philipp Holzmann, Maik Pfefferkorn, Joao Carvalho, Ali Younes, An Thai Le, Georgia Chalvatzaki, Jan Peters, Rolf Findeisen
The system combines a flow-matching model trained on human demonstrations with model predictive path-following control to navigate around newly detected static obstacles. The controller adapts execution to constraints and feeds predicted motion back to the planner when replanning. In simulations, P3 achieved 100% success across four configurations at a 3.8-second maximum horizon; this evidence assumes a viable alternate route.
Summary by alphaXiv.
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