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cs.RO2026
Scale-Invariant Manipulability Shape Tracking Across Heterogeneous Manipulators
Geunwoo Kwon, Dong-gyu Lee, Kai Li +2
When transferring manipulability across systems with different sizes and kinematic structures, matching absolute ellipsoid scale may be unnecessary when the goal is to reproduce or…
cs.RO2026
Executor-aware Candidate Selection via a Feasibility Certificate
Sooin Choi, Soonwoong Hwang, Wansoo Kim
Modular robotic systems often separate motion planning from a downstream executor that enforces state-dependent hard constraints. A candidate that is geometrically valid may theref…