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cs.RO2026
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…
cs.LG2026
Toward Learning POMDPs Beyond Full-Rank Actions and State Observability
Seiji Shaw, Travis Manderson, Chad Kessens +1
We are interested in enabling autonomous agents to learn and reason about systems with hidden states, such as locking mechanisms. We cast this problem as learning the parameters of…