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

IEEE International Conference on Robotics and Automation (ICRA), 2021

30 May 2021

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

38 / 38 papers shown

Title
Leveraging Extrinsic Dexterity for Occluded Grasping on Grasp Constraining Walls Keita Kobashi Masayoshi Tomizuka 105 0 0 19 Jul 2025
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation Melih Özcan Ozgur S. Oguz 80 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 190 1 0 08 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H.J. Terry Suh Tao Pang Tong Zhao Russ Tedrake 249 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 239 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 108 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 166 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 362 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 147 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 168 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 162 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 251 6 0 18 Aug 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 310 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 177 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 166 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 195 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 237 11 0 16 Mar 2024
H-MaP: An Iterative and Hybrid Sequential Manipulation Planner Berk Cicek Cankut Bora Tuncer Busenaz Kerimgil Ozgur S. Oguz 149 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 266 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 189 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 176 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 152 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 221 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 166 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 183 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 67 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 170 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 153 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 270 132 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