13 citations · 28 across the 9 of their papers we have counts for
4 papers · 1 filter
Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space
Peter Werner, Thomas Cohn, Rebecca H. Jiang +4
We propose two novel algorithms for constructing convex collision-free polytopes in robot configuration space. Finding these polytopes enables the application of stronger motion-pl…
Robot Fleet Learning via Policy Merging
Lirui Wang, Kaiqing Zhang, Allan Zhou +2
Fleets of robots ingest massive amounts of heterogeneous streaming data silos generated by interacting with their environments, far more than what can be stored or transmitted with…
Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz +1
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixe…
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
Thomas Cohn, Mark Petersen, Max Simchowitz +1
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory o…