2 citations · 2 across the 7 of their papers we have counts for
7 papers
Solving Sequential Manipulation Puzzles by Finding Easier Subproblems
Svetlana Levit, Joaquim Ortiz-Haro, Marc Toussaint
We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notor…
Factored Task and Motion Planning with Combined Optimization, Sampling and Learning
Joaquim Ortiz-Haro
In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with con…
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization
Joaquim Ortiz-Haro, Wolfgang Hönig, Valentin N. Hartmann +2
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic con…
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning
Joaquim Ortiz-Haro, Wolfgang Hoenig, Valentin N. Hartmann +1
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random contr…
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning
Phillip Grote, Joaquim Ortiz-Haro, Marc Toussaint +1
Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an…
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning
Welf Rehberg, Joaquim Ortiz-Haro, Marc Toussaint +1
Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality…