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cs.RO2025
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
Peter Werner, Richard Cheng, Tom Stewart +2
In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning alg…
cs.RO2024
Gravity-aware Grasp Generation with Implicit Grasp Mode Selection for Underactuated Hands
Tianyi Ko, Takuya Ikeda, Thomas Stewart +2
Learning-based grasp detectors typically assume a precision grasp, where each finger only has one contact point, and estimate the grasp probability. In this work, we propose a data…