RAKOMO adds a neural-network-predicted leg reachability margin to KOMO path optimization, improving leg-joint feasibility in simulated quadruped loco-manipulation tasks.
Chomp: gradient optimization techniques for efficient motion planning,
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RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation
RAKOMO adds a neural-network-predicted leg reachability margin to KOMO path optimization, improving leg-joint feasibility in simulated quadruped loco-manipulation tasks.