{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/speeding-up-deep-neural-network-based","title":"Speeding up deep neural network-based planning of local car maneuvers via efficient B-spline path construction","arxiv_id":"2203.06963","date":"2022-03-14","proceeding":null,"authors":["Piotr Kicki","Piotr Skrzypczyński"],"abstract":"This paper demonstrates how an efficient representation of the planned path using B-splines, and a construction procedure that takes advantage of the neural network's inductive bias, speed up both the inference and training of a DNN-based motion planner. We build upon our recent work on learning local car maneuvers from past experience using a DNN architecture, introducing a novel B-spline path construction method, making it possible to generate local maneuvers in almost constant time of about 11 ms, respecting a number of constraints imposed by the environment map and the kinematics of a car-like vehicle. We evaluate thoroughly the new planner employing the recent Bench-MR framework to obtain quantitative results showing that our method outperforms state-of-the-art planners by a large margin in the considered task.","url_abs":"https://arxiv.org/abs/2203.06963v1","url_pdf":"https://arxiv.org/pdf/2203.06963v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"speeding-up-deep-neural-network-based","repo_url":"https://github.com/pkicki/neural_path_planning","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"tf","reach":null}],"tasks":[{"task_slug":"inductive-bias","task_name":"Inductive Bias"}],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}