2 papers
cs.RO2026
Multimodal Belief-Space Covariance Steering with Active Probing and Influence for Interactive Driving
Devodita Chakravarty, John Dolan, Yiwei Lyu
Autonomous driving in complex traffic requires reasoning under uncertainty. Common approaches rely on prediction-based planning or risk-aware control, but these are typically treat…
cs.RO2026
Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
Simin Liu, Tong Zhao, Bernhard Paus Graesdal +5
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more e…