planning_vis
---------------------

This folder contains videos that show step-by-step executions of the algorithms R-RRT and R-RRT*.


# Explanations for the videos:

- Videos marked with a trailing suffix '_terminate_at_goal' show executions of the planning algorithms until
the first time a path that reaches the goal is found.

- Videos marked with a trailing suffix '_long' show executions of the planning algorithms for 1000 timesteps,
without terminating them when a path reaching the goal is found. These longer videos are intended to show that
R-RRT and R-RRT* maintain the visual characteristics of RRT and RRT*.

- The green dot marks the goal position, while the red dot marks the root of the tree (i.e. ,the current position).
The blue dots mark the sampled states from the memory-buffer.

- The blue trajectories that blip in and out of view show the random walk segments retrieved from the memory-buffer
through perceptual memory retrieval. The states and actions in these trajectories are stored in the edges of the 
planning graph, as described in the algorithms 1-8 in the supplementary pdf.