5 accepted papers
Imagine the future construction site, hospital, or office with dozens of robots bought from different manufacturers. How can we enable these different systems to effectively move in a shared environment, given that each robot may have its own independent motion planning system? This work show how we…
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 novel tasks by flexibly composing generic skills. Solutions to this problem lie in an infinitely vast space of paramete…
Multi-Robot Motion Planning (MRMP) in continuous environments, where robots must generate dynamically feasible, collision-free trajectories, is challenging due to the combinatorial growth of the joint trajectory space and the difficulty of enforcing dynamic feasibility and hard safety constraints. R…
Generating high-quality motion plans for multiple robot arms is challenging due to the high dimensionality of the system and the potential for inter-arm collisions. Traditional motion planning methods often produce motions that are suboptimal in terms of smoothness and execution time for multi-arm s
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale environments due to the high sample complexity of learning multi-robo…