RAM is a morphology-conditioned implicit neural representation trained on 3e10 forward-kinematics samples that serves as a fast, differentiable surrogate for pose reachability and generalizes to unseen morphologies while accounting for self-collisions.
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RAM: Reachability Across Morphologies
RAM is a morphology-conditioned implicit neural representation trained on 3e10 forward-kinematics samples that serves as a fast, differentiable surrogate for pose reachability and generalizes to unseen morphologies while accounting for self-collisions.