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cs.RO2023
CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning
Jeremy Morgan, David Millard, Gaurav S. Sukhatme
In this work we present CppFlow - a novel and performant planner for the Cartesian Path Planning problem, which finds valid trajectories up to 129x faster than current methods, whi…
cs.RO2023
Granular Gym: High Performance Simulation for Robotic Tasks with Granular Materials
David Millard, Daniel Pastor, Joseph Bowkett +2
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and…