Effort Informed Roadmaps (EIRM*)
Jonathan has been working with Valentin Hartmann to extend Marlin's work on effort-informed planning to multiquery problems. Their Effort Informed Roadmaps (EIRM*) can solve individual problems an order-of-magnitude faster and has been submitted to ISRR 2022. If you'd like to know more you can watch the trailer video on YouTube, read the paper on arXiv, and checkout the code. Valentin is a Ph.D. student in Marc Toussaint's Learning and Intelligent Systems (LIS) lab at TUBerlin.
