Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization

22 March 2022

Papers citing "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization"

20 / 20 papers shown

Title
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 56 1 0 11 Mar 2025
Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy Chen Wang Kaiyi Ji Junyi Geng Zhongqiang Ren Taimeng Fu ... Yi Du Qihang Li Y. Yang Xiao Lin Zhipeng Zhao SSL 76 9 0 28 Jan 2025
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans? Yuki Shirai Tong Zhao H. Suh Huaijiang Zhu Xinpei Ni Jiuguang Wang Max Simchowitz Tao Pang 55 3 0 10 Nov 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 21 2 0 24 Jul 2024
Autonomous Robotic Assembly: From Part Singulation to Precise Assembly Kei Ota Devesh K. Jha Siddarth Jain B. Yerazunis Radu Corcodel Yash Shukla Antonia Bronars Diego Romeres 42 2 0 08 Jun 2024
Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control M. Oller Dmitry Berenson Nima Fazeli 20 5 0 28 May 2024
Robust In-Hand Manipulation with Extrinsic Contacts Boyuan Liang Keita Ota Masayoshi Tomizuka Devesh K. Jha 38 1 0 27 Mar 2024
iPolicy: Incremental Policy Algorithms for Feedback Motion Planning Guoxiang Zhao Devesh K. Jha Yebin Wang Minghui Zhu 26 0 0 05 Jan 2024
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning Mengchao Zhang Devesh K. Jha A. Raghunathan Kris K. Hauser 14 12 0 10 Jun 2023
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators Eric Rosen Devesh K. Jha 17 0 0 18 May 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 24 10 0 15 Mar 2023
Tactile Tool Manipulation Yuki Shirai Devesh K. Jha A. Raghunathan Dennis W. Hong 24 18 0 17 Jan 2023
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control Devesh K. Jha Siddarth Jain Diego Romeres W. Yerazunis D. Nikovski 33 7 0 02 Dec 2022
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
Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization A. Wu Michelle Guo C. Karen Liu 14 30 0 01 Jul 2022
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation Yuki Shirai Devesh K. Jha A. Raghunathan Diego Romeres 19 14 0 05 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
Tactile Dexterity: Manipulation Primitives with Tactile Feedback F. Hogan José Ballester Siyuan Dong Alberto Rodriguez 102 97 0 08 Feb 2020