Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models

22 June 2022

Papers citing "Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models"

22 / 22 papers shown

Title
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu M. Tomizuka Xiang-Yang Li 49 0 0 08 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 23 4 0 04 May 2025
A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact Onur Beker Nico Gürtler Ji Shi A. R. Geist Amirreza Razmjoo Georg Martius Sylvain Calinon 60 0 0 14 Mar 2025
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 51 1 0 11 Mar 2025
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients Hajun Kim Dongyun Kang Min-Gyu Kim Gijeong Kim Hae-Won Park 53 0 0 24 Feb 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References Xueyi Liu Jianibieke Adalibieke Qianwei Han Yuzhe Qin Li Yi 66 3 0 13 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 82 4 0 03 Dec 2024
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 47 3 0 10 Nov 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 49 7 0 22 Sep 2024
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation Wen Yang Wanxin Jin 42 3 0 18 Aug 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 53 6 0 14 Aug 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation Jan Brüdigam Ali-Adeeb Abbas Maks Sorokin Kuan Fang Brandon Hung Maya Guru Stefan Sosnowski Jiuguang Wang Sandra Hirche Simon Le Cleac'h 31 2 0 02 Aug 2024
Learning control strategy in soft robotics through a set of configuration spaces Etienne Ménager Christian Duriez 33 0 0 21 Feb 2024
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force Feedback Dongying Tian Xiangbo Lin Yi Sun 17 3 0 22 Jan 2024
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 39 15 0 04 Sep 2023
Single-Level Differentiable Contact Simulation Simon Le Cleac'h Mac Schwager Zachary Manchester Vikas Sindhwani Peter R. Florence Sumeet Singh 24 5 0 13 Dec 2022
Long Horizon Planning through Contact using Discrete Search and Continuous Optimization Ramkumar Natarajan Garrison L. H. Johnston Nabil Simaan Maxim Likhachev Howie Choset 14 3 0 16 Oct 2022
Differentiable Collision Detection: a Randomized Smoothing Approach Louis Montaut Quentin Le Lidec Antoine Bambade Vladimir Petrik Josef Sivic Justin Carpentier 38 27 0 19 Sep 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 22 24 0 08 Mar 2022
Bundled Gradients through Contact via Randomized Smoothing H. Suh Tao Pang Russ Tedrake 74 52 0 11 Sep 2021
Trajectory Optimization with Optimization-Based Dynamics Taylor A. Howell Simon Le Cleac'h Sumeet Singh Peter R. Florence Zachary Manchester Vikas Sindhwani AI4CE 66 26 0 10 Sep 2021
Deep Dynamics Models for Learning Dexterous Manipulation Anusha Nagabandi K. Konolige Sergey Levine Vikash Kumar 143 404 0 25 Sep 2019