5 papers · 1 filter
ETA-IK: Execution-Time-Aware Inverse Kinematics for Dual-Arm Systems
Yucheng Tang, Xi Huang, Yongzhou Zhang +3
This paper presents ETA-IK, a novel Execution-Time-Aware Inverse Kinematics method tailored for dual-arm robotic systems. The primary goal is to optimize motion execution time by l…
HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps
Xi Huang, Gergely Sóti, Hongyi Zhou +3
With the goal of efficiently computing collision-free robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed R…
Planning with Learned Subgoals Selected by Temporal Information
Xi Huang, Gergely Sóti, Christoph Ledermann +2
Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spati…
dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes
Gergely Sóti, Xi Huang, Christian Wurll +1
We present dGrasp, an implicit grasp policy with an enhanced optimization landscape. This landscape is defined by a NeRF-informed grasp value function. The neural network represent…
6-DoF Grasp Pose Evaluation and Optimization via Transfer Learning from NeRFs
Gergely Sóti, Xi Huang, Christian Wurll +1
We address the problem of robotic grasping of known and unknown objects using implicit behavior cloning. We train a grasp evaluation model from a small number of demonstrations tha…