Fundamental Challenges in Deep Learning for Stiff Contact Dynamics

29 March 2021

Papers citing "Fundamental Challenges in Deep Learning for Stiff Contact Dynamics"

27 / 27 papers shown

Title
Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics Bibit Bianchini Minghan Zhu Mengti Sun Bowen Jiang Camillo J. Taylor Michael Posa 24 0 0 25 Apr 2025
Learning Differentiable Tensegrity Dynamics using Graph Neural Networks Nelson Chen Kun Wang William R. Johnson III Rebecca Kramer-Bottiglio Kostas Bekris Mridul Aanjaneya AI4CE 29 0 0 16 Oct 2024
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation Wen Yang Wanxin Jin 42 3 0 18 Aug 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 38 22 0 03 Apr 2024
Scaling Face Interaction Graph Networks to Real World Scenes Tatiana López-Guevara Yulia Rubanova William F. Whitney Tobias Pfaff Kimberly L. Stachenfeld Kelsey R. Allen AI4CE GNN 3DH 17 2 0 22 Jan 2024
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion Xiang Zhang Masayoshi Tomizuka Hui Li 37 12 0 13 Nov 2023
Stable Modular Control via Contraction Theory for Reinforcement Learning Bing Song Jean-Jacques E. Slotine Quang-Cuong Pham 31 2 0 07 Nov 2023
Simultaneous Learning of Contact and Continuous Dynamics Bibit Bianchini Mathew Halm Michael Posa 30 11 0 18 Oct 2023
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning Xiang Zhang Changhao Wang Lingfeng Sun Zheng Wu Xinghao Zhu Masayoshi Tomizuka OffRL 30 21 0 16 Oct 2023
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning Wei-Cheng Huang Alp Aydinoglu Wanxin Jin Michael Posa 31 3 0 15 Oct 2023
Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning Hien Bui Michael Posa 24 1 0 15 Oct 2023
Teaching contact-rich tasks from visual demonstrations by constraint extraction C. Hegeler Filippo Rozzi L. Roveda Kevin Haninger 24 0 0 30 Mar 2023
Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control Kevin Haninger Kangwagye Samuel Filippo Rozzi Sehoon Oh L. Roveda 14 1 0 30 Mar 2023
Learning Object Manipulation With Under-Actuated Impulse Generator Arrays Chuizheng Kong W. Yerazunis D. Nikovski 17 1 0 06 Mar 2023
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation Lasitha Wijayarathne Ziyi Zhou Ye Zhao Frank L. Hammond 19 11 0 19 Dec 2022
Learning rigid dynamics with face interaction graph networks Kelsey R. Allen Yulia Rubanova Tatiana López-Guevara William F. Whitney Alvaro Sanchez-Gonzalez Peter W. Battaglia Tobias Pfaff 3DH GNN AI4CE 34 34 0 07 Dec 2022
Task-Driven Hybrid Model Reduction for Dexterous Manipulation Wanxin Jin Michael Posa 24 15 0 30 Nov 2022
Enforcing Hard Constraints with Soft Barriers: Safe Reinforcement Learning in Unknown Stochastic Environments Yixuan Wang S. Zhan Ruochen Jiao Zhilu Wang Wanxin Jin Zhuoran Yang Zhaoran Wang Chao Huang Qi Zhu 24 48 0 29 Sep 2022
DiffTune: Auto-Tuning through Auto-Differentiation Sheng Cheng Minkyung Kim Lin Song Chengyu Yang Zhuohuan Wu Shenlong Wang N. Hovakimyan 26 6 0 20 Sep 2022
Dojo: A Differentiable Physics Engine for Robotics Taylor A. Howell Simon Le Cleac'h Jan Brüdigam J. Zico Kolter Mac Schwager Zachary Manchester 14 34 0 02 Mar 2022
Learning Linear Complementarity Systems Wanxin Jin Alp Aydinoglu Mathew Halm Michael Posa 19 15 0 25 Dec 2021
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions Bibit Bianchini Mathew Halm Nikolai Matni Michael Posa 25 12 0 13 Dec 2021
An Adaptive Framework for Reliable Trajectory Following in Changing-Contact Robot Manipulation Tasks Saif Sidhik Mohan Sridharan Dirk Ruiken 13 0 0 15 Nov 2021
OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation J. Wong Viktor Makoviychuk Anima Anandkumar Yuke Zhu 29 11 0 02 Oct 2021
Validating Robotics Simulators on Real-World Impacts Brian Acosta William Yang Michael Posa 40 31 0 01 Oct 2021
Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators Jan Brüdigam Jana Janeva Stefan Sosnowski Sandra Hirche 16 3 0 15 Sep 2021
Deep Dynamics Models for Learning Dexterous Manipulation Anusha Nagabandi K. Konolige Sergey Levine Vikash Kumar 145 407 0 25 Sep 2019