2 papers
cs.RO2026
Primitive-based Truncated Diffusion for Efficient Trajectory Generation of Differential Drive Mobile Manipulators
Long Xu, Choilam Wong, Yuhang Zhong +3
We present a learning-enhanced motion planner for differential drive mobile manipulators to improve efficiency, success rate, and optimality. For task representation encoder, we pr…
cs.RO2025
TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization
Long Xu, Choilam Wong, Mengke Zhang +3
Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing consid…