2 papers
cs.RO2026
Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS
Zhongqi Wei, Frederike Dümbgen
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods…
cs.RO2025
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
Zhongqi Wei, Xusheng Luo, Changliu Liu
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existin…