Motion Planning

Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes

Jingping Wang, Tingrui Zhang, Qixuan Zhang, Chuxiao Zeng, Jingyi Yu, Chao Xu, Lan Xu, Fei Gao

Journal SIGGRAPH 2024 Animation & Simulation
Signed Distance Field Swept Volume Continuous Collision Avoidance Trajectory Optimization Generalized Semi-Infinite Programming Motion Planning Robotics

Learning to Assemble with Alternative Plans

Ziqi Wang, Wenjun Liu, Jingwen Wang, Gabriel Vallat, Fan Shi, Stefana Parascho, Maryam Kamgarpour

Journal SIGGRAPH 2025 Animation & Simulation
Assembly Sequence Planning Reinforcement Learning Robotic Assembly GPU-Accelerated Simulation Curriculum Learning Graph Attention Network Rigid Body Equilibrium Motion Planning

PC-Planner: Physics-Constrained Self-Supervised Learning for Robust Neural Motion Planning with Shape-Aware Distance Function

Xujie Shen, Haocheng Peng, Zesong Yang, Juzhan Xu, Hujun Bao, Ruizhen Hu, Zhaopeng Cui

Conference SIGGRAPH Asia 2024 Animation & Simulation
Motion Planning Robot Navigation Eikonal Equation Self-Supervised Learning Signed Distance Field