Hdmove2 Info

[3] A. Sterling and J. Liu, "hdmove1: Latent motion primitives for high-DoF planning," arXiv preprint arXiv:2401.04567 , 2024.

[ \mathcalJ[\tau] = \int_0^T \left( \underbrace \textkinetic energy + \lambda_1 \underbrace \textjerk + \lambda_2 \underbracec_obs(\tau(t))_\textcollision cost \right) dt ] hdmove2

[ q^* = \arg\min_q \in Q | q - D(z^*) |^2 \quad \texts.t. \quad q \in Q_free ] [3] A. Sterling and J. Liu