[jvanderbot]

Yeah, a lot of this tends to be "Let's try CNN on ... ", and it ends up doing about as well. It's bound to be a general purpose tool that's easy to use and doesn't require a classical approach.

Like RRTs instead of visibility graphs for regular-old polygonal environments. The RRT is just easier vs hand-tuning obstacle boundaries, etc.

I have some experience on this, as we are building a system like this with similar constraints, and there's really no "need" for anything other than classical control.