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Reinforcement Learning with Neural Radiance Fields


Jun 03, 2022
Danny Driess , Ingmar Schubert , Pete Florence , Yunzhu Li , Marc Toussaint


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Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort


May 17, 2022
Valentin N. Hartmann , Marlin P. Strub , Marc Toussaint , Jonathan D. Gammell

* Submitted to the International Symposium on Robotics Research (ISRR), Manuscript #3. 16 pages, 7 figures, 1 table. Video and code available at https://robotic-esp.com/code/eirmstar/ 

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FC$^3$: Feasibility-Based Control Chain Coordination


May 09, 2022
Jason Harris , Danny Driess , Marc Toussaint


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Path-Tree Optimization in Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs


Apr 09, 2022
Camille Phiquepal , Andreas Orthey , Nicolas Viennot , Marc Toussaint

* Also submitted to IROS 2022 and RA-L 

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db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning


Mar 21, 2022
Wolfgang Hoenig , Joaquim Ortiz-Haro , Marc Toussaint

* Submitted to IROS 2022 

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Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation


Mar 10, 2022
Marc Toussaint , Jason Harris , Jung-Su Ha , Danny Driess , Wolfgang Hönig


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Learning Multi-Object Dynamics with Compositional Neural Radiance Fields


Mar 04, 2022
Danny Driess , Zhiao Huang , Yunzhu Li , Russ Tedrake , Marc Toussaint

* diagrams added 

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ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time


Mar 04, 2022
Francesco Grothe , Valentin N. Hartmann , Andreas Orthey , Marc Toussaint

* 7 pages, 5 figures, accepted at ICRA 2022 

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BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning


Mar 03, 2022
Jay Kamat , Joaquim Ortiz-Haro , Marc Toussaint , Florian T. Pokorny , Andreas Orthey

* 6 pages, (Under Review) Submitted to IROS 2022 

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MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets


Dec 13, 2021
Constantinos Chamzas , Carlos Quintero-Peña , Zachary Kingston , Andreas Orthey , Daniel Rakita , Michael Gleicher , Marc Toussaint , Lydia E. Kavraki

* accepted in IEEE Robotics and Automation Letters (RAL), 2022. Supplementary video: https://youtu.be/t96Py0QX0NI Code: https://github.com/KavrakiLab/motion_bench_maker 

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