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cs.RO2026
Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces
Yorai Shaoul, Jiaoyang Li, Maxim Likhachev
Learned manipulation policies increasingly predict motions for abstract "hands" and are attractive in practice because they rely on easily collected demonstrations and transfer acr…
cs.AI2026
Front-to-Attractors: Modifying the Front-to-Front Heuristic in Bidirectional Search
Alvin Zou, Muhammad Suhail Saleem, Maxim Likhachev
Heuristics play a central role in the performance of bidirectional search algorithms, which commonly rely on two main classes. Front-to-end (F2E) heuristics estimate the distance f…
cs.RO2026
Multi Graph Search for High-Dimensional Robot Motion Planning
Itamar Mishani, Maxim Likhachev
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although…