5 papers
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,…
Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
Shrutheesh R Iyer, I-Chia Chang, Andrew Z. Liu +2
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorith…
Differentiable Particle Optimization for Fast Sequential Manipulation
Lucas Chen, Shrutheesh Raman Iyer, Zachary Kingston
Sequential robot manipulation tasks require finding collision-free trajectories that satisfy geometric constraints across multiple object interactions in potentially high-dimension…
Household navigation and manipulation for everyday object rearrangement tasks
Shrutheesh R. Iyer, Anwesan Pal, Jiaming Hu +3
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments…
An Experience-based TAMP Framework for Foliated Manifolds
Jiaming Hu, Shrutheesh R. Iyer, Henrik I. Christensen
Due to their complexity, foliated structure problems often pose intricate challenges to task and motion planning in robotics manipulation. To counter this, our study presents the `…