This package contains the STOMP Core algorithm. The acronym STOMP stands for "Stochastic Trajectory Optimization for Motion Planning". This planner can produce smooths, collision-free paths for high-dimensional robotic systems that satisfy various task constraints in order to minimize energy consumption or optimize other user-chosen criteria. STOMP leverages gradient-free optimization and path integral reinforcement learning techniques (Policy Improvement with Path Integrals, Theodorou et al, 2010).
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