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UC San Diego
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Integrating SDF mapping with motion planning slashes trajectory planning time from 10 seconds to just 1-3 seconds in cluttered environments.
Achieving 90% of oracle performance in bimanual tool use, DexFuture operates 250 times faster than conventional planning methods.
Real-time, uncertainty-aware signed distance functions are now possible, thanks to a new kernel regression and Gaussian process hybrid that outperforms existing methods in accuracy and speed.
By encoding physical priors into a graph transformer, PhysGraph achieves superior bimanual manipulation with half the parameters and zero-shot generalization to new tools, suggesting learned physics can be replaced with structured inductive biases.
