We present an effective solution for computing locally optimal Reeds-Shepp distances and paths for kinematically-constrained vehicles in environments represented as obstacle-rich 2D Cartesian occupancy grids, addressing the reliance of current methods on discretization and approximation techniques. Our solution leverages a visibility-based marching architecture with continuous analytical expressions for propagating the Reeds-Shepp distance function. We introduce a model to identify reachable and unreachable regions for Reeds-Shepp vehicles, accompanied by a comprehensive representation of the Reeds-Shepp distance function in both cases. Unlike existing approaches, our method computes locally optimal distances and smooth paths globally without discretizing vehicle orientations, motion primitives, or the PDE, and without gradient descent (GD) backtracking, ensuring both accuracy and computational efficiency. Extensive simulations in various environments demonstrate effective improvements over state-of-the-art methods, particularly in complex obstacle-rich scenarios. To facilitate adoption, we provide an open-source solver implemented in C++.

Agentic systems interleave large language model (LLM) reasoning, tool usage, and tool observations over multiple iterations to tackle complex tasks. The raw data from an agent's problem-solving process (the agents' trajectory) is not an ideal format for human analysis and oversight. There is a need for tooling that converts this primary data into an easily navigable and understandable visual format for better human feedback. To address this opportunity, we developed the Agent Trajectory Explorer, a tool designed to help AI developers and researchers visualize, annotate, and demonstrate agent behavior.

Granite-speech LLMs are compact and efficient speech language models specifically designed for English ASR1and automatic speech translation (AST). The models were trained by modality aligning granite-3.3-instruct to speech on publicly available open-source corpora. Comprehensive benchmarking on English ASR shows that they outperform several competitors’ models that were trained on orders of magnitude more proprietary data, and they keep pace on English-to-X AST for major European languages, Japanese, and Mandarin. The speech-specific components are: a conformer acoustic encoder using block attention and self-conditioning trained with connectionist temporal classification, a windowed query-transformer speech modality adapter used to do temporal downsampling of the acoustic embeddings and map them to the LLM text embedding space, and LoRA adapters to further fine-tune the text LLM. The models are freely available on HuggingFace2under a permissive Apache 2.0 license.1The latest models (revision 3.3.2) support multilingual ASR in English, French, German, Spanish and Portuguese and bidirectional speech translation to and from English. This paper covers the initial English-only release.2https://huggingface.co/ibm-granite/granite-speech-3.3-2b (and…-8b).

In this study, we present a simple and intuitive method for accelerating optimal Reeds–Shepp path computation. Our approach uses geometrical reasoning to analyze the behavior of optimal paths, resulting in a new partitioning of the state space and a further reduction in the minimal set of viable paths. We revisit and reimplement classic methodologies from literature, which lack contemporary open-source implementations, to serve as benchmarks for evaluating our method. In addition, we address the underspecified Reeds–Shepp planning problem where the final orientation is unspecified. We perform exhaustive experiments to validate our solutions. Compared to the modern C++ implementation of the original Reeds–Shepp solution in the Open Motion Planning Library, our method demonstrates a$15\times$speedup, while classic methods achieve a$5.79\times$speedup. Both approaches exhibit machine-precision differences in path lengths compared to the original solution. We release our proposed C++ implementations for both the accelerated and underspecified Reeds–Shepp problems as open-source code.

This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing and independently of the number and shape of obstacles. It has a compute and memory complexity of $\mathcal{O}(n)$, where n = nx×nyis the size of the grid, and requires at most ten arithmetic operations per grid cell. In the proposed approach, we use a linear first-order hyperbolic partial differential equation to transport the visibility quantity in all directions. In order to accomplish that, we use an entropy-satisfying upwind scheme that converges to the true visibility polygon as the step size goes to zero. This dynamic-programming approach allows the evaluation of visibility for an entire grid orders of magnitude faster than typical ray-casting algorithms. We provide a practical application of our proposed algorithm by posing the visibility quantity as a heuristic and implementing a deterministic, local-minima-free path planner, setting apart the proposed planner from traditional methods. Lastly, we provide necessary algorithms and an open-source implementation of the proposed methods.

This paper introduces a novel approach for whole-body motion planning and dynamic occlusion avoidance. The proposed approach reformulates the visibility constraint as a likelihood maximization of visibility probability. In this formulation, we augment the primary cost function of a whole-body model predictive control scheme through a relaxed log barrier function yielding a relaxed log-likelihood maximization formulation of visibility probability. The visibility probability is computed through a probabilistic shadow field that quantifies point light source occlusions. We provide the necessary algorithms to obtain such a field for both 2D and 3D cases. We demonstrate 2D implementations of this field in simulation and 3D implementations through real-time hardware experiments. We show that due to the linear complexity of our shadow field algorithm to the map size, we can achieve high update rates, which facilitates onboard execution on mobile platforms with limited computational power. Lastly, we evaluate the performance of the proposed MPC reformulation in simulation for a quadrupedal mobile manipulator.

This paper presents an algorithm to estimate the position of an object in an industrial picking shelf based on low frequency magnetic fields. The proposed algorithm was designed as an improvement to the one used by the IndLoc system which has been developed at Fraunhofer Institute for Integrated Circuits. It reduces the calculation time by extracting a subtable, a portion, from a simulated look-up table during each iteration. The algorithm is tested on the IndLoc system which consists of one AC current loop, 16 receiving coils and a passive localization object that comprises three orthogonal coils. Additionally, time measurements are carried out using different subtable sizes and compared with using only one high-resolution look-up table.