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Fast Contact-Implicit Model-Predictive Control

12 July 2021

Papers citing "Fast Contact-Implicit Model-Predictive Control"

50 / 72 papers shown

Title
Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition Sangmin Kim Hajun Kim Gijeong Kim Min-Gyu Kim Hae-Won Park 44 0 0 28 Oct 2025
Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC Hien Bui Yufeiyang Gao Haoran Yang Eric Cui Siddhant Mody Brian Acosta Thomas Stephen Felix Bibit Bianchini Michael Posa 70 0 0 22 Oct 2025
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion Ziyi Zhou Qian Meng H. Kress-Gazit Ye Zhao 100 1 0 27 Sep 2025
Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning Zachary Olkin Kejun Li William D. Compton Aaron D. Ames 101 0 0 23 Sep 2025
Distributed Nash Equilibrium Seeking Algorithm in Aggregative Games for Heterogeneous Multi-Robot Systems Yi Dong Zhongguo Li Sarvapali D. Ramchurn Xiaowei Huang 44 0 0 19 Sep 2025
Sample-Efficient Online Control Policy Learning with Real-Time Recursive Model Updates Zixin Zhang James Avtges Todd Murphey 82 0 0 10 Sep 2025
Learning to Walk with Less: a Dyna-Style Approach to Quadrupedal Locomotion Francisco Affonso Felipe Andrade G. Tommaselli Juliano Negri V. S. Medeiros M. V. Gasparino Girish Chowdhary Marcelo Becker 64 2 0 08 Sep 2025
A Three-Level Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots Bolin Li Gewei Zuo Zhixiang Wang Xiaotian Ke Lijun Zhu Han Ding 92 0 0 19 Aug 2025
Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion Victor Dhédin Haizhou Zhao Majid Khadiv 64 0 0 18 Aug 2025
Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition Jiming Ren Xuan Lin Roman Mineyev Karen Feigh Samuel Coogan Ye Zhao 128 3 0 18 Aug 2025
Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations Yuki Shirai Kei Ota Devesh K. Jha Diego Romeres 181 0 0 01 Aug 2025
A Survey: Learning Embodied Intelligence from Physical Simulators and World Models Xiaoxiao Long Qingrui Zhao Kaiwen Zhang Zihao Zhang Dingrui Wang ... Jia Pan Qiu Shen Ruigang Yang X. Cao Qionghai Dai LM&Ro AI4CE 242 14 0 01 Jul 2025
Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control Zachary Olkin Aaron D. Ames 206 0 0 11 Jun 2025
Learning coordinated badminton skills for legged manipulators Yuntao Ma Andrei Cramariuc Farbod Farshidian Marco Hutter 247 20 0 29 May 2025
Approximating Global Contact-Implicit MPC via Sampling and Local ComplementarityIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Sharanya Venkatesh Bibit Bianchini Alp Aydinoglu William Yang Michael Posa 273 2 0 19 May 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 242 1 0 08 May 2025
Quadrupedal Spine Control Strategies: Exploring Correlations Between System Dynamic Responses and Human Perspectives Nicholas Hafner Chaoran Liu C. Ishi H. Ishiguro 239 0 0 05 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H.J. Terry Suh Tao Pang Tong Zhao Russ Tedrake 337 13 0 04 May 2025
Line-Search Filter Differential Dynamic Programming for Optimal Control with Nonlinear Equality Constraints Ming Xu Stephen Gould Iman Shames 238 0 0 11 Apr 2025
Efficient Gradient-Based Inference for Manipulation Planning in Contact Factor GraphsIEEE International Conference on Robotics and Automation (ICRA), 2025 Jeongmin Lee Sunkyung Park Minji Lee Dongjun Lee 271 0 0 08 Mar 2025
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo John Z. Zhang Taylor A. Howell Zeji Yi Chaoyi Pan Guanya Shi Guannan Qu Tom Erez Yuval Tassa Zachary Manchester 203 8 0 06 Mar 2025
CMMLoc: Advancing Text-to-PointCloud Localization with Cauchy-Mixture-Model Based FrameworkComputer Vision and Pattern Recognition (CVPR), 2025 Yanlong Xu Haoxuan Qu Qingbin Liu Wenxiao Zhang Xun Yang 863 2 0 04 Mar 2025
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang H.J. Terry Suh Tong Zhao B. P. Graesdal Tarik Kelestemur Jiuguang Wang Tao Pang Russ Tedrake 338 14 0 27 Feb 2025
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact GradientsIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Hajun Kim Dongyun Kang Min-Gyu Kim Gijeong Kim Hae-Won Park 332 3 0 24 Feb 2025
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation Xuanlin Li Tong Zhao Xinghao Zhu Jiuguang Wang Tao Pang Kuan Fang 359 8 0 03 Dec 2024
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based ApproachIEEE International Conference on Robotics and Automation (ICRA), 2024 Haowen Yao Riddhiman Laha Anirban Sinha Jonas Hall Luis F. C. Figueredo Nilanjan Chakraborty Sami Haddadin 179 1 0 29 Oct 2024
Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy OptimizationIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024 Ioannis Tsikelis Konstantinos Chatzilygeroudis 164 4 0 03 Oct 2024
Differentiable Contact Dynamics for Stable Object Placement Under Geometric Uncertainties Linfeng Li Gang Yang Lin Shao David Hsu 235 1 0 26 Sep 2024
DROP: Dexterous Reorientation via Online PlanningIEEE International Conference on Robotics and Automation (ICRA), 2024 Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 314 17 0 22 Sep 2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait GenerationIEEE Conference on Decision and Control (CDC), 2024 Zachary Olkin Aaron D. Ames 163 3 0 18 Sep 2024
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral ControlIEEE International Conference on Robotics and Automation (ICRA), 2024 Juan Alvarez-Padilla John Z. Zhang Sofia Kwok John M. Dolan Zachary Manchester 140 19 0 16 Sep 2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged RobotsIEEE International Conference on Robotics and Automation (ICRA), 2024 Zixin Zhang John Z. Zhang Shuo Yang Zachary Manchester 195 2 0 16 Sep 2024
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous ManipulationIEEE Robotics and Automation Letters (RA-L), 2024 Wen Yang Wanxin Jin 279 6 0 18 Aug 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 354 16 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 193 7 0 02 Aug 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Zehua Wang Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 473 167 0 09 Jul 2024
Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA Adarsh Salagame Harin Kumar Nallaguntla Eric N. Sihite G. Schirner Alireza Ramezani 197 2 0 19 Jun 2024
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning Xuan Lin Gabriel I. Fernandez Dennis W. Hong 214 0 0 07 Jun 2024
Accelerate Hybrid Model Predictive Control using Generalized Benders Decomposition Xuan Lin AI4CE 171 3 0 02 Jun 2024
Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots Jing Cheng Yasser G. Alqaham Zhenyu Gan 126 3 0 27 May 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 267 5 0 27 May 2024
Dynamic On-Palm Manipulation via Controlled Sliding William Yang Michael Posa 248 14 0 14 May 2024
What Foundation Models can Bring for Robot Learning in Manipulation : A Survey Dingzhe Li Yixiang Jin A. Yong Yong A Hongze Yu ... Huaping Liu Gang Hua F. Sun Jianwei Zhang Bin Fang AI4CE LM&Ro 763 24 0 28 Apr 2024
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed OptimizationThe international journal of robotics research (IJRR), 2024 Julius Jankowski Lara Brudermüller Nick Hawes Sylvain Calinon 254 4 0 03 Apr 2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion Boyuan Liang Lingfeng Sun Xinghao Zhu Bike Zhang Ziyin Xiong Yixiao Wang Chenran Li Koushil Sreenath Masayoshi Tomizuka 273 5 0 29 Mar 2024
Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC Khai Nguyen Anoushka Alavilli Sam Schoedel Elakhya Nedumaran Moises Mata Brian Plancher Zachary Manchester 252 3 0 26 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 290 33 0 06 Mar 2024
Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang Li 238 15 0 29 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 242 142 0 30 Jan 2024
Fast and Continual Learning for Hybrid Control Policies using Generalized Benders Decomposition Xuan Lin 163 0 0 01 Jan 2024