To find the shortest paths for all pairs on manifolds with infinitesimally defined metrics, we propose to generate them by predicting midpoints recursively and an actor-critic method to learn midpoint prediction. We prove the soundness of our approach and show experimentally that the proposed method outperforms existing methods on both local and global path planning tasks.

翻译：为求解在无穷小度量定义流形上的所有点对之间的最短路径，本文提出通过递归预测中点来生成此类路径，并采用actor-critic方法学习中点预测。我们证明了该方法的理论可靠性，并通过实验表明，所提方法在局部与全局路径规划任务上均优于现有方法。