18 citations · 29 across the 8 of their papers we have counts for
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cs.RO2023★ 2 cited
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…
cs.RO2023
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner +2
We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magni…