3 papers
cs.RO2026
Spectral Decomposition of Inverse Dynamics for Fast Exploration in Model-Based Manipulation
Solvin Sigurdson, Benjamin Riviere, Joel Burdick
Planning long duration robotic manipulation sequences is challenging because of the complexity of exploring feasible trajectories through nonlinear contact dynamics and many contac…
cs.RO2024
Monte Carlo Tree Search with Spectral Expansion for Planning with Dynamical Systems
Benjamin Riviere, John Lathrop, Soon-Jo Chung
The ability of a robot to plan complex behaviors with real-time computation, rather than adhering to predesigned or offline-learned routines, alleviates the need for specialized al…
cs.RO2024
Model Predictive Trees: Sample-Efficient Receding Horizon Planning with Reusable Tree Search
John Lathrop, Benjamin Rivi`ere, Jedidiah Alindogan +1
We present Model Predictive Trees (MPT), a receding horizon tree search algorithm that improves its performance by reusing information efficiently. Whereas existing solvers reuse o…