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Author

Yorai Shaoul

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Open access Jul 2026

Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces

This work proposes a search-based framework that is theoretically complete for grounding policy-generated multi-hand trajectories onto physical multi-arm systems, and explicitly searches over both the discrete assignment of trajectories to arms and the continuous Jacobian null spaces of redundant manipulators.

Yorai Shaoul, Jiao-Yang Li, Maxim Likhachev · 0 citations
Preprint Jul 2026

Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning

This work introduces Model-Based Diffusion Optimal Control (MDOC), a model-based diffusion planner that efficiently produces dynamically feasible trajectories without relying on data, and shows that MDOC's safety mechanism naturally scales to multi-robot planning settings through Conflict-Based Search.

Zhilin He, Yorai Shaoul, Jiaoyang Li · 1 citation · ⚡1

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