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cs.RO2026
GASP: GPU-Accelerated Safe Planner for Real-Time Collision-Aware Motion Generation with Latent Trajectory Sampling
Colin Merk, Stefanos Charalambous, Peter Dürr +1
We present GASP, a GPU-Accelerated Safe Planner for real-time, collision-aware joint-space motion generation in known environments. GASP combines a clamped B-spline trajectory para…
cs.RO2025
Learning Acrobatic Flight from Preferences
Colin Merk, Ismail Geles, Jiaxu Xing +3
Preference-based reinforcement learning (PbRL) enables agents to learn control policies without requiring manually designed reward functions, making it well-suited for tasks where…