Research
PUBLICATIONS
GPD: Guided Polynomial Diffusion for Motion Planning
GPD introduces polynomial basis functions into the diffusion process for motion planning, enabling smoother and more controllable trajectory generation.
Under Review · 2024
EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning
We propose EDMP, a diffusion-based motion planning framework guided by an ensemble of cost functions, enabling flexible and collision-free trajectory generation in complex environments.
IEEE International Conference on Robotics and Automation (ICRA 2024) · 2024
Disentangling Planning and Control for Non-prehensile Tabletop Manipulation
We disentangle the planning and control modules for non-prehensile manipulation, enabling more robust and generalizable tabletop rearrangement.
IEEE International Conference on Automation Science and Engineering (CASE 2023) · 2023
Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning
We present our system for the ICRA 2022 OCRTOC challenge, addressing perception, planning, and manipulation for table-top object rearrangement. Ranked 3rd globally.
ICRA 2022 Open Cloud Robot Table Organization Challenge (OCRTOC) — 3rd Place · 2022