From the 1 of 11 linked papers with an AI index.
11 papers
Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces
Yorai Shaoul, Jiaoyang Li, Maxim Likhachev
Learned manipulation policies increasingly predict motions for abstract "hands" and are attractive in practice because they rely on easily collected demonstrations and transfer acr…
Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
Zhilin He, Yorai Shaoul, Jiaoyang Li
The paper proposes Model-Based Diffusion Optimal Control (MDOC), a planner that generates dynamically feasible, collision‑free trajectories for multiple robots without needing demo…
Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments
Vaibhav Sanjay, Yorai Shaoul, Jiaoyang Li
Multi-robot path planning in human-shared environments requires a delicate balance between robust inter-robot coordination and socially aware behavior. While diffusion models excel…
LAMP: Long-Horizon Adaptive Manipulation Planning for Multi-Robot Collaboration in Cluttered Space
Shuai Zhou, Yorai Shaoul, Jiaoyang Li
Multi-robot manipulation requires jointly reasoning about contact formations, robot motions under coupled dynamics, and collision avoidance. Systematically searching over this larg…
MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation
Itamar Mishani, Yorai Shaoul, Maxim Likhachev
Planning long-horizon manipulation motions using a set of predefined skills is a central challenge in robotics; solving it efficiently could enable general-purpose robots to tackle…
Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks
Rishi Veerapaneni, Alvin Tang, Haodong He +9
Imagine the future construction site, hospital, or office with dozens of robots bought from different manufacturers. How can we enable these different robots to effectively move in…