6 accepted papers
Multi-robot systems often need to navigate through obstacle-cluttered environments while performing complex tasks. To ensure collision-free trajectories among the robots and with the obstacles is essential for the overall safety, along with additional requirements such as dynamic feasibility, relati…
Vision–Language–Action (VLA) models enable general-purpose robotic control via large-scale multimodal pretraining, yet their effectiveness under few-shot imitation learning remains limited. We conduct a systematic stress test of state-of-the-art VLA models and show that performance degrades sharply …
Batch planning is increasingly necessary to quickly produce diverse and quality motion plans for downstream learning applications, such as distillation and imitation learning. This paper presents Global Tensor Motion Planning (GTMP)---a sampling-based motion planning algorithm comprising only tensor…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow in high-dimensional and complex scenes and produce nonsmooth
A molecule’s 2D representation consists of its atoms, their attributes, and the molecule’s covalent bonds. A 3D (geometric) representation of a molecule is called a conformer and consists of its atom types and Cartesian coordinates. Every conformer has a potential energy, and the lower this energy,…
Motion planning is still an open problem for many disciplines, e.g., robotics, autonomous driving, due to their need for high computational resources that hinder real-time, efficient decision-making. A class of methods striving to provide smooth solutions is gradient-based trajectory optimization. H…