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Generative CoLearn: steering and cost prediction with generative adversarial nets in kinodynamic RRTTsutsunava, Nick (author)Kinodynamic planning is motion planning in state space and aims to satisfy kinematic and dynamic constraints. To reduce its computational cost, a popular approach is to use sampling based methods such as RRT with off-line machine learning for estimating the steering cost and inputs. However, scalability and robustness are still open challenges...master thesis 2018