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cs.RO2026
Learning-Accelerated Narrow-Phase Collision Detection via Check Ordering for Sampling-Based Motion Planning
Hao Jiang, Yinghan Wang, Jianping He +1
Collision detection is critical for ensuring the safety of planned paths. However, it imposes a non-negligible computational burden on motion planners, motivating extensive studies…
cs.RO2026
BridgeFlow: Fast and Robust SE(2)-Equivariant Motion Planning with Flow Matching
Xinzhe Zhou, Xuyang Wang, Xiaoming Duan +1
In robotic motion planning, equivariance to rigid body transformations is crucial for robust spatial generalization. However, current learning-based planners face a critical dilemm…
cs.RO2026
Minimizing Worst-Case Weighted Latency for Multi-Robot Persistent Monitoring: Theory and RL-Based Solutions
Weizhen Wang, Ziheng Wang, Jianping He +2
We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint…