Kinematics to Dynamics: Learning to Refine Hybrid Plans for Physically Feasible
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From Kinematics to Dynamics: Learning to Refine Hybrid Plans for Physically Feasible Execution
arXiv:2604.12474v3 Announce Type: replace Abstract: In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission. Such problems are inherently mixed discrete-continuous: a high-level action sequence and a physically feasible continuous trajectory. The resulting trajectory and action sequence must also satisfy problem constraints such as deadlines, time windows, and velocity or acceleration limits.