RichMap refines classic grid reachability maps with S^2/SO(3) capacity bounds and asynchronous construction to deliver over 98% accuracy, low false positives, fast queries, and up to 26% gains in cross-embodiment diffusion policy transfer.
IEEE Robotics and Automation Letters7(3), 7177–7184 (2022) RichMap: Balancing Precision, Efficiency, and Flexibility for Reachability 17
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RichMap: A Reachability Map Balancing Precision, Efficiency, and Flexibility for Rich Robot Manipulation Tasks
RichMap refines classic grid reachability maps with S^2/SO(3) capacity bounds and asynchronous construction to deliver over 98% accuracy, low false positives, fast queries, and up to 26% gains in cross-embodiment diffusion policy transfer.