When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find feasible plans efficiently. Such problems are often reduced to state spaces where the dynamics are straightforward to model and evaluate. However, such reductions usually discard information about the system for the benefit of computational efficiency, leading to cases where the true and reduced dynamics disagree on the result of an action. This paper presents a formulation for planning in reduced state spaces that uses a classifier to bias the planner away from state-action pairs that are not reliably feasible under the true dynamics. We present a method to generate and label data to train such a classifier, as well as an application of our framework to rope manipulation, where we use a Virtual Elastic Band (VEB) approximation to the true dynamics. Our experiments with rope manipulation demonstrate that the classifier significantly improves the success rate of our RRT-based planner in several difficult scenarios which are designed to cause the VEB to produce incorrect predictions in key parts of the environment.
home public, or actually to govern China? Why do you think that a man as ambitious as Wang Ch'ing-wei put himself in such a humiliating and ridiculous position-before the world, and before history?" To which Chiang, after due consideration, replied: "Whatever may be the intention of the Japanese in putting up Wang Ch'ing-wei as the head of the bogus government, they certainly have no idea of letting him or any other puppet govern China in reality. As to the latter part of the question, I prefer that you would ask Wang directly."-Which reply indicates that the generalissimo is no more lacking in a sense of humor than he is in perspicacity. Inasmuch as Puppet Wang is not listed among those who aided the author in Nanking, it may be assumed that the question was not put to him). Also included under Materials on Policy are an essay by Chiang on "What I mean by action, or a philosophy of action" and a lecture by him on "Definitions of the problems concerning the organization of the various classifications of Hsien," also a spirited article, composed in 1939, "expressing the general Kuomintang view. .. of Chinese Communist views," entitled "A Discussion of Mao Tse-Tung's Comments on the Present State of International Relations," and a memorandum by Dr. Wang Ch'ung-hui on "China's Long-Range Diplomatic Orientation.
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