THREAD is a diffusion model for generating feasible backbone trajectories of hybrid rigid-soft manipulators conditioned on environment geometry, reporting 92.4% success and 5x fewer collisions in simulation plus real-world transfer.
S-rrt*-based obstacle avoidance autonomous motion planner for continuum-rigid manipulator
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A vision-guided hybrid rigid-soft manipulator achieves consistent sub-2cm reaching in unseen cluttered environments via shape-aware planning and learning control without environment-specific retraining.
citing papers explorer
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THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion
THREAD is a diffusion model for generating feasible backbone trajectories of hybrid rigid-soft manipulators conditioned on environment geometry, reporting 92.4% success and 5x fewer collisions in simulation plus real-world transfer.
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HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
A vision-guided hybrid rigid-soft manipulator achieves consistent sub-2cm reaching in unseen cluttered environments via shape-aware planning and learning control without environment-specific retraining.