262 citations · 430 across the 32 of their papers we have counts for
4 papers · 1 filter
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman +9
This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization t…
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning
Yu-Shun Hsiao, Siva Kumar Sastry Hari, Balakumar Sundaralingam +5
High-dimensional motion generation requires numerical precision for smooth, collision-free solutions. Typically, double-precision or single-precision floating-point (FP) formats ar…
Diff-DOPE: Differentiable Deep Object Pose Estimation
Jonathan Tremblay, Bowen Wen, Valts Blukis +3
We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rende…
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation
Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam +2
Recent work has shown that complex manipulation skills, such as pushing or pouring, can be learned through state-of-the-art learning based techniques, such as Reinforcement Learnin…