Shrutheesh Raman Iyer

2 accepted papers

2026

Differentiable Particle Optimization for Fast Sequential Manipulation

Lucas Chen, Shrutheesh Raman Iyer, Zachary Kingston

ICRA 2026poster

Sequential robot manipulation tasks require finding collision-free trajectories that satisfy geometric constraints across multiple object interactions in potentially high-dimensional configuration spaces. Solving these problems in real-time and at large scales has remained out of reach due to comput…

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2024

Motion Planning in Foliated Manifolds using Repetition Roadmap

Jiaming Hu, Shrutheesh Raman Iyer, Jiawei Wang, Henrik I Christensen

RSS 2024poster

Numerous classes of robotics motion planning problems involve searching in constrained configuration spaces where the constraints change during different stages of the motion, and these kinds of motion planning problems are named multi-modal problems. The most common method to solve these problems i…

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