ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients

• URL: http://arxiv.org/abs/2607.00215v1
• Date: Tue, 30 Jun 2026 21:47:09 GMT
• Title: ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients
• Abstract summary: We propose ELMP, a framework for data-efficient adaptation via self-supervised fine-tuning.<n>This replaces expert data generation with rapid problem sampling, reducing per-sample adaptation cost by roughly two orders of magnitude.<n>Our approach maintains millisecond-level inference latency and is validated on a physical Franka Emika Panda robot.
• Score: 10.858081539985577
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Neural Motion Planners (NMPs) enable fast reactive motion generation, but adapting them to new environments typically requires recollecting large expert datasets, which is computationally prohibitive. We propose ELMP, a framework for data-efficient adaptation via self-supervised fine-tuning. Rather than generating additional expert trajectories with expensive global planners, ELMP directly optimizes the policy through a differentiable kinematic layer using dense collision, target-reaching, and smoothness objectives. This replaces expert data generation with rapid problem sampling, reducing per-sample adaptation cost by roughly two orders of magnitude. To further support robust generalization across changing kinematic chains, we introduce a mechanism to explicitly encode tool geometry via point clouds. Benchmarked against classical and neural baselines, ELMP achieves an 84.8% average success rate with orders-of-magnitude lower cold-start latency than classical methods. In unseen environments, self-supervised fine-tuning improves success rate from 57.3% (zero-shot) to 89.8%, removing the data collection bottleneck. Our approach maintains millisecond-level inference latency and is validated on a physical Franka Emika Panda robot.

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