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Motion planning has seen much attention over the past two decades. A great deal of progress has been made in sampling-based planning , whereby a planner builds an approximate representation of the planning space. While these planners have demonstrated success in many scenarios, there are still difficult problems where they lack robustness or efficiency,(More)
Sampling-based planning is a common method for solving motion planning problems. However, this paradigm falters in difficult scenarios, such as narrow passages. In contrast, humans can frequently identify these challenges and can sometimes propose an approximate solution. A recent method called Region Steering takes advantage of this intuition by allowing a(More)
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