3 papers
cs.RO2025
Mobile Manipulation Planning for Tabletop Rearrangement
Jiaming Hu, Jiawei Wang, Henrik I Christensen
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited…
cs.RO2025
cpRRTC: GPU-Parallel RRT-Connect for Constrained Motion Planning
Jiaming Hu, Jiawei Wang, Henrik Christensen
Motion planning is a fundamental problem in robotics that involves generating feasible trajectories for a robot to follow. Recent advances in parallel computing, particularly throu…
cs.RO2024
Planning for Tabletop Object Rearrangement
Jiaming Hu, Jan Szczekulski, Sudhansh Peddabomma +1
Finding an high-quality solution for the tabletop object rearrangement planning is a challenging problem. Compared to determining a goal arrangement, rearrangement planning is chal…