1 citations · 1 across the 6 of their papers we have counts for
6 papers
PRISM: Projection-Integrated Sampling-Based MPC with Bayesian Cost Tuning for Bimanual Manipulation
Alinjar Dan, Iryna Hurova, Karl Kruusamäe +1
Bimanual manipulation in cluttered, contact-rich environments remains challenging because it requires coordinated motion generation, interaction-aware planning, and reliable execut…
Sampling-Based Optimization with Parallelized Physics Simulator for Bimanual Manipulation
Iryna Hurova, Alinjar Dan, Karl Kruusamäe +1
In recent years, dual-arm manipulation has become an area of strong interest in robotics, with end-to-end learning emerging as the predominant strategy for solving bimanual tasks.…
GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot
Fatemeh Rastgar, Houman Masnavi, Karl Kruusamäe +2
We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assump…
Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures
Vivek Kantilal Adajania, Houman Masnavi, Fatemeh Rastgar +2
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimiza…
GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization
Fatemeh Rastgar, Houman Masnavi, Jatan Shrestha +3
In this paper, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart o…
Fast Adaptation of Manipulator Trajectories to Task Perturbation By Differentiating through the Optimal Solution
Shashank Srikanth, Mithun Babu, Houman Masnavi +3
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to pe…