AutoMoMa unifies AKR kinematic modeling with parallel trajectory optimization to produce 500k+ valid coordinated trajectories across 330 scenes and multiple robot embodiments, 80x faster than prior CPU methods.
Versatile multicontact planning and control for legged loco- manipulation.Science Robotics, 8(81):eadg5014, 2023
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Scalable Trajectory Generation for Whole-Body Mobile Manipulation
AutoMoMa unifies AKR kinematic modeling with parallel trajectory optimization to produce 500k+ valid coordinated trajectories across 330 scenes and multiple robot embodiments, 80x faster than prior CPU methods.