Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation

5 March 2022

Papers citing "Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation"

8 / 8 papers shown

Title
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties Ananya Trivedi Sarvesh Prajapati Mark Zolotas Michael Everett Taskin Padir 29 0 0 05 Nov 2024
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
Learning Generalizable Pivoting Skills Xiang Zhang Siddarth Jain Baichuan Huang M. Tomizuka Diego Romeres 29 14 0 04 May 2023
Covariance Steering for Uncertain Contact-rich Systems Yuki Shirai Devesh K. Jha A. Raghunathan 28 12 0 23 Mar 2023
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization Yuki Shirai Devesh K. Jha A. Raghunathan 27 10 0 15 Mar 2023
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots Yuki Shirai Xuan Lin Alexander Schperberg Yusuke Tanaka Hayato Kato Varit Vichathorn Dennis W. Hong 27 30 0 04 Jul 2022
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization Yuki Shirai Devesh K. Jha A. Raghunathan Diego Romeres 19 27 0 22 Mar 2022
PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance A. Raghunathan Devesh K. Jha Diego Romeres 25 26 0 06 Jun 2021