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minor fix to readme

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Balakumar Sundaralingam
2023-11-04 09:34:18 -07:00
parent 102c5d6ab2
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README.md
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@@ -8,7 +8,7 @@ disclosure or distribution of this material and related documentation
without an express license agreement from NVIDIA CORPORATION or
its affiliates is strictly prohibited.
-->
# CuRobo
# cuRobo
*CUDA Accelerated Robot Library*
@@ -23,7 +23,7 @@ For business inquiries, please visit our website and submit the form: [NVIDIA Re
## Overview
CuRobo is a CUDA accelerated library containing a suite of robotics algorithms that run significantly faster than existing implementations leveraging parallel compute. CuRobo currently provides the following algorithms: (1) forward and inverse kinematics,
cuRobo is a CUDA accelerated library containing a suite of robotics algorithms that run significantly faster than existing implementations leveraging parallel compute. cuRobo currently provides the following algorithms: (1) forward and inverse kinematics,
(2) collision checking between robot and world, with the world represented as Cuboids, Meshes, and Depth images, (3) numerical optimization with gradient descent, L-BFGS, and MPPI, (4) geometric planning, (5) trajectory optimization, (6) motion generation that combines inverse kinematics, geometric planning, and trajectory optimization to generate global motions within 30ms.
<p align="center">
@@ -31,24 +31,26 @@ CuRobo is a CUDA accelerated library containing a suite of robotics algorithms t
</p>
CuRobo performs trajectory optimization across many seeds in parallel to find a solution. CuRobo's trajectory optimization penalizes jerk and accelerations, encouraging smoother and shorter trajectories. Below we compare CuRobo's motion generation on the left to a BiRRT planner on a pick and place task.
cuRobo performs trajectory optimization across many seeds in parallel to find a solution. cuRobo's trajectory optimization penalizes jerk and accelerations, encouraging smoother and shorter trajectories. Below we compare cuRobo's motion generation on the left to a BiRRT planner for the motion planning phases in a pick and place task.
<p align="center">
<img width="500" src="images/rrt_compare.gif">
</p>
## Citation
If you found this work useful, please cite the below report,
```
@article{curobo_report23,
title={CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation},
author={Sundaralingam, Balakumar and Hari, Siva Kumar Sastry and
Fishman, Adam and Garrett, Caelan and Van Wyk, Karl and Blukis, Valts and
Millane, Alexander and Oleynikova, Helen and Handa, Ankur and
Ramos, Fabio and Ratliff, Nathan and Fox, Dieter},
journal={arXiv preprint},
year={2023}
@misc{curobo_report23,
title={cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation},
author={Balakumar Sundaralingam and Siva Kumar Sastry Hari and Adam Fishman and Caelan Garrett
and Karl Van Wyk and Valts Blukis and Alexander Millane and Helen Oleynikova and Ankur Handa
and Fabio Ramos and Nathan Ratliff and Dieter Fox},
year={2023},
eprint={2310.17274},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
```