Intelligent motion planning with acceptable contact
Impact
Robotics · vision-language planning · ICRA 2026
- Simulation trials
- 3,200
- Real-world trials
- 200
A motion planner for robots working in clutter. Instead of treating every object as something to route around, it decides what is safe to touch. A vision-language model assigns each object a semantic cost, those costs feed an anisotropic cost map encoding how safe a push is from a given direction, and a contact-aware A* search plans over motion primitives to find trajectories that permit the contact worth making.
The human feedback came through a platform I built: a full-stack site that served randomized video pairs for evaluation, with REST APIs and a structured JSON pipeline behind it so every vote survived intact. 65+ people used it, and those results were accepted to an RSS workshop.



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