23 citations · 80 across the 17 of their papers we have counts for
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cs.RO2022
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess +2
A factored Nonlinear Program (Factored-NLP) explicitly models the dependencies between a set of continuous variables and nonlinear constraints, providing an expressive formulation…
cs.RO2022★ 1 cited
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation
Marc Toussaint, Jason Harris, Jung-Su Ha +2
Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactiv…