In this work, we introduce composable energy policies (CEP), a novel framework for multi-
objective motion generation. We frame the problem of composing multiple policy …

For bipedal humanoid robots to successfully operate in the real world, they must be
competent at simultaneously executing multiple motion tasks while reacting to unforeseen …

Motion generation in cluttered, dense, and dynamic environments is a central topic in
robotics, rendered as a multi-objective decision-making problem. Current approaches trade …

Robotics research has found numerous important applications of Riemannian geometry.
Despite that, the concept remain challenging to many roboticists because the background …

In this paper, we address the problem of real-time motion planning for multiple robotic
manipulators that operate in close proximity. We build upon the concept of dynamic fabrics …

Optimization fabrics are a geometric approach to real-time local motion generation, where
motions are designed by the composition of several differential equations that exhibit a …

Effective motion planning in high dimensional spaces is a long-standing open problem in
robotics. One class of traditional motion planning algorithms corresponds to potential-based …

We present hierarchical policy blending as optimal transport (HiPBOT). HiPBOT
hierarchically adjusts the weights of low-level reactive expert policies of different agents by …