6 papers
Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays
Jonathan Kelly, Phone Thiha Kyaw, Matthew Giamou
In many multisensor systems, measurements from different sensors are subject to unknown relative time delays. Accurate state estimation requires that delays be accounted for and, w…
Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning
Phone Thiha Kyaw, Jonathan Kelly
Contact-rich manipulation poses a discrete question and a continuous one at once, namely which contacts are active and how to move while they hold. The two are coupled by a change…
Exploring the Intrinsic Geometry of Diffusion Models with Constrained Inverse Kinematics
Miguel Angel Rogel Garcia, Phone Thiha Kyaw, Jonathan Kelly
Recent studies suggest that diffusion models can recover geometric structure in the data manifolds they are trained on, yet the supporting evidence has so far come mostly from natu…
Direct Informed Sampling on Riemannian Manifolds via Loewner Order Lower Bounds
Phone Thiha Kyaw, Jonathan Kelly
Informed sampling techniques accelerate sampling-based motion planners by focusing the search on promising regions of the state space, yet most existing methods rely on Euclidean h…
Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds
Phone Thiha Kyaw, Jonathan Kelly
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean…
Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces
Phone Thiha Kyaw, Anh Vu Le, Rajesh Elara Mohan +1
Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing sampling toward regions of the state space that are most likely to yield better…