6 papers · 1 filter
ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization
Shrutheesh R. Iyer, Thomas Cohn, Zachary Kingston
Robots often must satisfy one or more constraints during motion planning for real-world tasks. When such constraints reduce the valid configuration space to a measure-zero subset,…
Induced Riemannian Metrics for Motion Planning with Constraints
Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1
In constrained motion planning problems, task and loop-closure constraints restrict a robot's motion to a curved, lower-dimensional submanifold of its configuration space. Planners…
Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers
Thomas Cohn, Seiji Shaw, Harel Biggie +3
Planning trajectories for robot manipulators under kinematic equality constraints restricts feasible motions to a measure-zero submanifold of the configuration space, requiring spe…
Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
Adam Wei, Nicholas Pfaff, Thomas Cohn +4
We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. High-quality, task-specific robot data is expensive and…
A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
Thomas Cohn, Lihan Tang, Alexandre Amice +1
Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary st…
SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes
Nicholas Pfaff, Thomas Cohn, Sergey Zakharov +2
Simulation has become a key tool for training and evaluating home robots at scale, yet existing environments fail to capture the diversity and physical complexity of real indoor sp…