18 papers · 1 filter
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…
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…
Constant-Time Motion Planning with Manipulation Behaviors
Nayesha Gandotra, Itamar Mishani, Maxim Likhachev
Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the key barriers is the lack…
Collaborative Multi-Robot Non-Prehensile Manipulation via Flow-Matching Co-Generation
Yorai Shaoul, Zhe Chen, Mohamed Naveed Gul Mohamed +3
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate obj…
Multi Graph Search for High-Dimensional Robot Motion Planning
Itamar Mishani, Maxim Likhachev
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although…
Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception
Gabriel Olin, Lu Chen, Nayesha Gandotra +2
Intercepting fast moving objects, by its very nature, is challenging because of its tight time constraints. This problem becomes further complicated in the presence of sensor noise…