Reformulates caging as an eikonal minimum-time escape field, approximated via physics-informed neural network and embedded into whole-arm manipulation planning for improved robustness to contact-model mismatch.
and Hutchinson, Seth A
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Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Reformulates caging as an eikonal minimum-time escape field, approximated via physics-informed neural network and embedded into whole-arm manipulation planning for improved robustness to contact-model mismatch.