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Welcome to the [**iPlanner: Imperative Path Planning**](https://arxiv.org/abs/2302.11434) code repository. The iPlanner is trained via an innovative Imperative Learning Approach and exclusively uses front-facing depth images for local path planning.
A video showing the functionalities of iPlanner is available here: [**Video**](https://youtu.be/QLxnNexEqnU)
A video showing the functionalities of iPlanner is available here: [**Video**](https://youtu.be/-IfjSW0wPBI)
**Keywords:** Navigation, Local Planning, Imperative Learning
