3 papers
cs.RO2026
Diffusion-Based Optimization for Accelerated Convergence of Redundant Dual-Arm Minimum Time Problems
Jushan Chen, Jonathan Fried, Santiago Paternain
We present a framework leveraging a novel variant of the model-based diffusion algorithm to minimize the time required for a redundant dual-arm robot configuration to follow a desi…
cs.RO2025
A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems
Jonathan Fried, Santiago Paternain
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing i…
cs.RO2024
A Bi-Level Optimization Approach to Joint Trajectory Optimization for Redundant Manipulators
Jonathan Fried, Santiago Paternain
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajector…