# YOPO
### Code for Paper: You Only Plan Once: A Learning-based One-stage Planner with Guidance Learning
More details can be found in the video on [YouTube](https://youtu.be/m7u1MYIuIn4) or [bilibili](https://www.bilibili.com/video/BV15M4m1d7j5/).

**The code is to be released...**

A simple demonstration with random goals clicked in rviz at the flight speed of 4m/s (the video is 3x speed-up and the map is unavailable).

![demo](click_in_rviz.gif)