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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…
A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
Emmett Wise, Pushyami Kaveti, Qilong Chen +5
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few…
Galilean Symmetry in Robotics
Robert Mahony, Jonathan Kelly, Stephan Weiss
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in…
Generating Stable Placements via Physics-guided Diffusion Models
Philippe Nadeau, Miguel Rogel, Ivan BiliÄ +2
Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and…
Automated Planning Domain Inference for Task and Motion Planning
Jinbang Huang, Allen Tao, Rozilyn Marco +3
Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP…
Robustness Assessment of Assemblies in Frictional Contact
Philippe Nadeau, Jonathan Kelly
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded…