Zian Liu

BatchRRT: A Fully-Batched Reformulation of RRT With GPU-Accelerated SDF Collision Checking for Real-Time Human-Robot Collision Avoidance

Industrial human-robot collaboration requires real-time motion planning with accurate collision avoidance in dynamic environments. While recent neural signed distance field (SDF) methods achieve sub-millisecond inference from sparse observations, traditional RRT planners fail to exploit this capabil