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Latest

• Strong Convex Relaxations and Tailored Conic Solvers with Applications in Robotics
• Projects
• VEGA: Decomposition Solver for Graphs of Convex Sets
• CCosmo: A Custom First-Order Conic Solver
• Publications
• A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
• Mixed discrete and continuous planning using shortest walks in graphs of convex sets
• Towards Tight Convex Relaxations for Contact-Rich Manipulation
• Multi-Query Shortest-Path Problem in Graphs of Convex Sets
• Certifying Bimanual RRT Motion Plans in a Second