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Does the FMMPlanner work without a ground truth map? #25
From my understanding, the project constructs two types of FMMPlanner instances. One is used during the generation of start points and getting the metric, utilizing the ground truth map. The other is for training, based on the generated obstacle map(in sem_exp.py ,the function _get_stg). Therefore, the project can operate without the ground truth map, as the start points are predefined.
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ytx0323 commentedon Jan 25, 2024
From my understanding, the project constructs two types of FMMPlanner instances. One is used during the generation of start points and getting the metric, utilizing the ground truth map. The other is for training, based on the generated obstacle map(in sem_exp.py ,the function _get_stg). Therefore, the project can operate without the ground truth map, as the start points are predefined.