Papers
1–3 of 3Research Paper·Mar 17, 2026
Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness
Motion planning under dynamics constraints, i.e., kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately track. For high-\dof ...
8.0 viability
Research Paper·Jan 15, 2026
Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
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 efficient and natural...
7.0 viability
Research Paper·Mar 17, 2026
Contingency-Aware Planning via Certified Neural Hamilton-Jacobi Reachability
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for dynamical systems, but solving high-dimensional HJ partial differential equations limits its use in real-time planning. This pap...
5.0 viability