Zhihong Tian

Occluding the Solution Space: Planner-Agnostic Adversarial Attacks on Tolerance-Aware Manipulation

Keke Tang, Tianyu Hao, Weilong Peng, Hao Jiang, Feng Wu, Peican Zhu, et al.

Adversarial attacks on motion planning are crucial for evaluating and quantifying the intrinsic robustness of robotic manipulation. However, existing approaches are typically limited by restrictive exact-pose objectives and their reliance on planner-in-the-loop queries. To addres…Read more