The CoMMA Lab at ICRA 2026!

Created in June 01, 2026

2026

The CoMMA Lab presented six papers at ICRA 2026 in Vienna!

The lab at ICRA 2026 in Vienna.

Papers Presented

“pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning” with Chih H. Huang, Pranav Jadhav, and Brian Plancher

“Differentiable Particle Optimization for Fast Sequential Manipulation” with Lucas Chen and Shrutheesh R. Iyer

Pranav and Chih presenting pRRTC, and Shru presenting SPASM.

“Parallel Heuristic Search as Inference for Actor-Critic Reinforcement Learning Models” with Hanlan Yang, Itamar Mishani, Luca Pivetti, and Maxim Likhachev

“Revisiting Replanning from Scratch: Real-Time Incremental Planning with Fast Almost-Surely Asymptotically Optimal Planners” with Mitchell E. C. Sabbadini, Andrew H. Liu, Joseph Ruan, Tyler S. Wilson, and Jonathan D. Gammell

Hanlan presenting PACHS and Mitchell presenting his replanning work.

“One-Shot View Planning and Online Optimization-based Replanning for Unknown Object Reconstruction” with José J. Patiño, Victor Romero-Cano, Yu-Kun Lai, and Juan David Hernández

We also presented the RA-L paper “AORRTC: Almost-Surely Asymptotically Optimal Planning with RRT-Connect” with Tyler S. Wilson, Wil Thomason, and Jonathan D. Gammell

Tyler presenting AORRTC.