2 papers
cs.RO2026
Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
Shrutheesh R Iyer, I-Chia Chang, Andrew Z. Liu +2
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorith…
cs.RO2025
Differentiable Particle Optimization for Fast Sequential Manipulation
Lucas Chen, Shrutheesh Raman Iyer, Zachary Kingston
Sequential robot manipulation tasks require finding collision-free trajectories that satisfy geometric constraints across multiple object interactions in potentially high-dimension…