Covariance Steering for Uncertain Contact-rich Systems

23 March 2023

Papers citing "Covariance Steering for Uncertain Contact-rich Systems"

9 / 9 papers shown

Title
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 53 1 0 11 Mar 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 49 3 0 10 Nov 2024
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties Ananya Trivedi Sarvesh Prajapati Mark Zolotas Michael Everett Taskin Padir 27 0 0 05 Nov 2024
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed Optimization Julius Jankowski Lara Brudermüller Nick Hawes Sylvain Calinon 19 4 0 03 Apr 2024
Robust In-Hand Manipulation with Extrinsic Contacts Boyuan Liang Keita Ota Masayoshi Tomizuka Devesh K. Jha 33 1 0 27 Mar 2024
iPolicy: Incremental Policy Algorithms for Feedback Motion Planning Guoxiang Zhao Devesh K. Jha Yebin Wang Minghui Zhu 21 0 0 05 Jan 2024
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization Yuki Shirai Devesh K. Jha A. Raghunathan 18 10 0 15 Mar 2023
PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance A. Raghunathan Devesh K. Jha Diego Romeres 14 26 0 06 Jun 2021
Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems A. Jasour Allen Wang B. Williams 23 19 0 29 Jan 2021