Differentiable Spatial Planning using Transformers

              Devendra Singh Chaplot 1 2 Deepak Pathak 2 Jitendra Malik 1 3
  Project webpage: https://devendrachaplot.github.io/projects/spatial-planning-transformers

             Abstract
   We consider the problem of spatial path planning.
   In contrast to the classical solutions which op-
   timize a new plan from scratch and assume ac-
   cess to the full map with ground truth obstacle
   locations, we learn a planner from the data in a
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