Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation

10 March 2022

Papers citing "Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation"

22 / 22 papers shown

Title
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 69 1 0 11 Mar 2025
BoundPlanner: A convex-set-based approach to bounded manipulator trajectory planning Thies Oelerich C. Hartl-Nesic F. Beck Andreas Kugi 69 0 0 20 Feb 2025
Online Trajectory Replanner for Dynamically Grasping Irregular Objects M. Vu Florian Grander Anh Nguyen 40 0 0 29 Jan 2025
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints Mingjie Pan Jiyao Zhang Tianshu Wu Yinghao Zhao Wenlong Gao Hao Dong LM&Ro 63 8 0 08 Jan 2025
Robust Contact-rich Manipulation through Implicit Motor Adaptation Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 107 1 0 16 Dec 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 43 0 0 01 Oct 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yong Li Ruohan Zhang Li Fei-Fei 57 95 0 03 Sep 2024
A Biologically Inspired Design Principle for Building Robust Robotic Systems Xing Li Oussama Zenkri Adrian Pfisterer Oliver Brock 53 0 0 19 Aug 2024
Language-Driven Closed-Loop Grasping with Model-Predictive Trajectory Replanning Huy Hoang Nguyen Minh Nhat Vu F. Beck Gerald Ebmer Anh Nguyen Andreas Kugi 23 0 0 13 Jun 2024
Task and Motion Planning for Execution in the Real Tianyang Pan Rahul Shome Lydia E. Kavraki 63 2 0 05 Jun 2024
Dynamic Planning for Sequential Whole-body Mobile Manipulation Zhitian Li Yida Niu Yao Su Hangxin Liu Ziyuan Jiao 58 1 0 24 May 2024
Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 32 4 0 07 May 2024
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed Optimization Julius Jankowski Lara Brudermüller Nick Hawes Sylvain Calinon 37 3 0 03 Apr 2024
Impact-Aware Bimanual Catching of Large-Momentum Objects Lei Yan Theodoros Stouraitis João Moura Wenfu Xu Michael Gienger S. Vijayakumar 38 10 0 25 Mar 2024
Model Predictive Trajectory Optimization With Dynamically Changing Waypoints for Serial Manipulators F. Beck Minh Nhat Vu C. Hartl-Nesic Andreas Kugi 14 6 0 07 Feb 2024
Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning Yuezhe Zhang Corrado Pezzato Elia Trevisan C. Salmi C. H. Corbato Javier Alonso-Mora 19 7 0 04 Dec 2023
Predictive and Robust Robot Assistance for Sequential Manipulation Theodoros Stouraitis Michael Gienger 24 3 0 08 Sep 2023
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models Wenlong Huang Chen Wang Ruohan Zhang Yunzhu Li Jiajun Wu Li Fei-Fei LM&Ro 39 483 0 12 Jul 2023
Language to Rewards for Robotic Skill Synthesis Wenhao Yu Nimrod Gileadi Chuyuan Fu Sean Kirmani Kuang-Huei Lee ... N. Heess Dorsa Sadigh Jie Tan Yuval Tassa F. Xia LM&Ro 41 269 0 14 Jun 2023
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control Christopher E. Mower João Moura Nazanin Zamani Behabadi S. Vijayakumar Tom Kamiel Magda Vercauteren Christos Bergeles 27 12 0 31 Jan 2023
VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior Julius Jankowski Lara Brudermüller Nick Hawes Sylvain Calinon 55 31 0 08 Oct 2022
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints João Moura Theodoros Stouraitis S. Vijayakumar 47 46 0 27 Sep 2021