Author

Thomas Cohn

2 papers indexed here

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Preprint Sep 2026

ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization

This work explores a new axis of vectorization built upon reparameterizing the planning space through analytic IK, and shows that the planner can synthesize plans in microseconds to milliseconds for high dimensional systems, with complex constraints, up to 10x faster than the current state-of-the-art.

S. R. Iyer, Thomas Cohn, Zachary Kingston · 0 citations

Preprint Sep 2026

Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers

A new approach for computing gradients of analytic IK parameterizations is presented, using the inverse function theorem to recover the desired gradients from the ordinary forward kinematic Jacobian, and a least-squares domain extension and an optimization-amenable description of the reachability constraint are present...

Thomas Cohn, Seiji Shaw, Harel Biggie et al. · 2 citations