Papers citing 'Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D'

Title
Leveraging Extrinsic Dexterity for Occluded Grasping on Grasp Constraining Walls Keita Kobashi Masayoshi Tomizuka 97 0 0 19 Jul 2025
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation Melih Özcan Ozgur S. Oguz 72 0 0 19 Jun 2025
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang-Yang Li 178 1 0 08 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H.J. Terry Suh Tao Pang Tong Zhao Russ Tedrake 237 12 0 04 May 2025
GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty Sirui Chen Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin 95 0 0 01 May 2025
DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation Jiangran Lyu Ziming Li Xuesong Shi Chaoyi Xu Yizhou Wang He Wang 227 6 0 21 Mar 2025
Focused Blind Switching Manipulation Based on Constrained and Regional Touch States of Multi-Fingered Hand Using Deep LearningIEEE International Conference on Robotics and Automation (ICRA), 2025 Satoshi Funabashi Atsumu Hiramoto Naoya Chiba A. Schmitz Shardul Kulkarni T. Ogata 100 0 0 10 Mar 2025
SeGMan: Sequential and Guided Manipulation Planner for Robust Planning in 2D Constrained Environments Cankut Bora Tuncer Dilruba Sultan Haliloglu Ozgur S. Oguz 3DV 162 1 0 06 Mar 2025
Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile ManipulationIEEE Robotics and Automation Letters (RA-L), 2024 Huy Le Miroslav Gabriel Tai Hoang Gerhard Neumann Ngo Anh Vien 326 1 0 22 Nov 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 143 3 0 01 Oct 2024
Bi-Level Belief Space Search for Compliant Part Mating Under Uncertainty Sahit Chintalapudi L. Kaelbling Tomas Lozano-Perez 113 0 0 24 Sep 2024
Explicit Contact Optimization in Whole-Body Contact-Rich ManipulationIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024 Victor Leve João Moura Namiko Saito Steve Tonneau S. Vijayakumar 160 5 0 28 Aug 2024
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric ConstraintsIEEE Robotics and Automation Letters (RA-L), 2024 Fan Yang Thomas Power Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 158 8 0 23 Aug 2024
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous ManipulationIEEE Robotics and Automation Letters (RA-L), 2024 Wen Yang Wanxin Jin 231 6 0 18 Aug 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 286 15 0 14 Aug 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body ManipulationConference on Robot Learning (CoRL), 2024 Jan Brüdigam Ali-Adeeb Abbas Maks Sorokin Kuan Fang Brandon Hung Maya Guru Roland Toth Jiuguang Wang Sandra Hirche Simon Le Cleac'h 173 6 0 02 Aug 2024
Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry Mengchao Zhang Devesh K. Jha A. Raghunathan Kris K. Hauser 158 4 0 24 Jul 2024
Dynamic On-Palm Manipulation via Controlled Sliding William Yang Michael Posa 184 14 0 14 May 2024
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting Albert Wu Ruocheng Wang Sirui Chen Clemens Eppner Chenxi Liu 191 8 0 11 Apr 2024
CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects Yoonyoung Cho Junhyek Han Yoontae Cho Beomjoon Kim 209 11 0 16 Mar 2024
H-MaP: An Iterative and Hybrid Sequential Manipulation Planner Berk Cicek Cankut Bora Tuncer Busenaz Kerimgil Ozgur S. Oguz 141 2 0 15 Mar 2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation B. P. Graesdal S. Y. C. Chia Tobia Marcucci Savva Morozov Alexandre Amice P. Parrilo Russ Tedrake 242 25 0 15 Feb 2024
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force FeedbackIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024 Dongying Tian Xiangbo Lin Yi Sun 177 3 0 22 Jan 2024
Learning Reusable Manipulation StrategiesConference on Robot Learning (CoRL), 2023 Jiayuan Mao Joshua B. Tenenbaum Tomás Lozano-Pérez L. Kaelbling SSL 151 16 0 06 Nov 2023
Plan-Guided Reinforcement Learning for Whole-Body Manipulation Mengchao Zhang Jose Barreiros Aykut Özgün Önol 164 7 0 18 Oct 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transferIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 144 19 0 06 Sep 2023
Multi-Stage Reinforcement Learning for Non-Prehensile ManipulationIEEE Robotics and Automation Letters (RA-L), 2023 Dexin Wang F. Chang Chunsheng Liu 127 14 0 22 Jul 2023
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact ExplorationIEEE Robotics and Automation Letters (RA-L), 2023 Xianyi Cheng Sarvesh Patil Zeynep Temel Oliver Kroemer M. T. Mason 242 32 0 01 Jul 2023
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning Mengchao Zhang Devesh K. Jha A. Raghunathan Kris K. Hauser 122 13 0 10 Jun 2023
HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile ManipulationConference on Robot Learning (CoRL), 2023 Wen-Min Zhou Bowen Jiang Fan Yang Chris Paxton David Held 209 40 0 06 May 2023
Learning Generalizable Pivoting SkillsIEEE International Conference on Robotics and Automation (ICRA), 2023 Xiang Zhang Siddarth Jain Baichuan Huang Masayoshi Tomizuka Diego Romeres 154 16 0 04 May 2023
Consensus Complementarity Control for Multi-Contact MPCIEEE Transactions on robotics (TRO), 2023 Alp Aydinoglu Adam Wei Wei-Cheng Huang Michael Posa 175 36 0 21 Apr 2023
Implicit Contact-Rich Manipulation Planning for a Manipulator with Insufficient PayloadRobotic Intelligence and Automation (RIA), 2023 Kento Nakatsuru Weiwei Wan Kensuke Harada 63 7 0 26 Feb 2023
Learning to Grasp the Ungraspable with Emergent Extrinsic DexterityConference on Robot Learning (CoRL), 2022 Wen-Min Zhou David Held OffRL 166 66 0 02 Nov 2022
Quasistatic contact-rich manipulation via linear complementarity quadratic programmingIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 S. Katayama Tatsunori Taniai Kazutoshi Tanaka 145 6 0 25 Oct 2022
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich ManipulationConference on Robot Learning (CoRL), 2022 Jacky Liang Xianyi Cheng Oliver Kroemer 145 11 0 25 Jun 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact ModelsIEEE Transactions on robotics (TRO), 2022 Tao Pang H.J. Terry Suh Lujie Yang Russ Tedrake 246 132 0 22 Jun 2022
Efficient Object Manipulation Planning with Monte Carlo Tree SearchIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Huaijiang Zhu Avadesh Meduri Ludovic Righetti 180 12 0 17 Jun 2022