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.
In: 2017 IEEE 56th annual conference on decision and control (CDC)
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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.