A new planner, Ω-CBSA, jointly chooses which robot arm follows which hand trajectory and searches elbow/wrist null-space motions to guarantee collision-free multi-arm execution of learned manipulation policies.
Proceedings of the International Conference on Automated Planning and Scheduling , author=
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Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces
A new planner, Ω-CBSA, jointly chooses which robot arm follows which hand trajectory and searches elbow/wrist null-space motions to guarantee collision-free multi-arm execution of learned manipulation policies.