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omron-sinicx / neural-astar

Official implementation of "Path Planning using Neural A* Search" (ICML-21)
https://omron-sinicx.github.io/neural-astar
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question about pq_astar #13

Closed HareshKarnan closed 1 year ago

HareshKarnan commented 1 year ago

I was looking at this particular line and wondering, if there is a bug in this code. Shouldn't we also consider the condition where a node is already in the open list, and maybe has lesser fnew than the one in the open list ?

HareshKarnan commented 1 year ago

In that case, open_list needs to be updated with the lower cost fnew

yonetaniryo commented 1 year ago

Thank you for raising this issue, and you are right. The cost should be updated also for the nodes that are already in the open list but have higher g value. I was referring to this implementation but has somehow misinterpreted it. Will fix it soon!

yonetaniryo commented 1 year ago

@HareshKarnan if you have some time could you please take a look at https://github.com/omron-sinicx/neural-astar/pull/14 to see if the bug about condition is fixed? I'll anyway merge it in this weekend when I have some time.