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cs.RO2026
Induced Riemannian Metrics for Motion Planning with Constraints
Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1
In constrained motion planning problems, task and loop-closure constraints restrict a robot's motion to a curved, lower-dimensional submanifold of its configuration space. Planners…
cs.RO2026
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…
cs.RO2024
Automated Continuous Force-Torque Sensor Bias Estimation
Philippe Nadeau, Miguel Rogel Garcia, Emmett Wise +1
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements…