2024
CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning
ICRA 2024poster
In this work we present CppFlow - a novel and performant planner for the Cartesian Path Planning problem, which finds valid trajectories up to 129x faster than current methods, while also succeeding on more difficult problems where others fail. At the core of the proposed algorithm is the use of a l…