CuRobo: Parallelized Collision-Free Robot Motion Generation
Balakumar Sundaralingam,Siva Kumar Sastry Hari,Adam Fishman,Caelan Garrett,Karl Van Wyk,Valts Blukis,Alexander Millane,Helen Oleynikova,Ankur Handa,Fabio Ramos,Nathan Ratliff,Dieter Fox,Balakumar Sundaralingam,Siva Kumar Sastry Hari,Adam Fishman,Caelan Garrett,Karl Van Wyk,Valts Blukis,Alexander Millane,Helen Oleynikova,Ankur Handa,Fabio Ramos,Nathan Ratliff,Dieter Fox
This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization technique to solve this problem and demonstrate its effectiveness on massively parallel GPUs. We show that combining simple optimization techniques with many parallel seeds leads to solving difficult motion generation pro...
