Consensus Complementarity Control for Multi-Contact MPC

21 April 2023

Papers citing "Consensus Complementarity Control for Multi-Contact MPC"

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
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang H. Suh Tong Zhao B. P. Graesdal Tarik Kelestemur Jiuguang Wang Tao Pang Russ Tedrake 74 2 0 27 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
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
Accelerate Hybrid Model Predictive Control using Generalized Benders Decomposition Xuan Lin AI4CE 26 1 0 02 Jun 2024
Dynamic On-Palm Manipulation via Controlled Sliding William Yang Michael Posa 46 9 0 14 May 2024
Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC Sam Schoedel Khai Nguyen Elakhya Nedumaran Brian Plancher Zachary Manchester 45 2 0 26 Mar 2024
Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang Li 43 4 0 29 Feb 2024
An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks Boyang Ti Yongsheng Gao Jie Zhao Sylvain Calinon 20 2 0 08 Feb 2024
Fast and Continual Learning for Hybrid Control Policies using Generalized Benders Decomposition Xuan Lin 13 0 0 01 Jan 2024
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 36 5 0 14 Dec 2023
Simultaneous Learning of Contact and Continuous Dynamics Bibit Bianchini Mathew Halm Michael Posa 28 11 0 18 Oct 2023
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning Wei-Cheng Huang Alp Aydinoglu Wanxin Jin Michael Posa 23 3 0 15 Oct 2023
Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning Hien Bui Michael Posa 24 1 0 15 Oct 2023
Generalized Benders Decomposition with Continual Learning for Hybrid Model Predictive Control in Dynamic Environment Xuan Lin 11 2 0 05 Oct 2023
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
Simultaneous Tactile Estimation and Control of Extrinsic Contact Sangwoon Kim Devesh K. Jha Diego Romeres P. Patre Alberto Rodriguez 29 27 0 06 Mar 2023
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 33 43 0 15 Sep 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 81 79 0 12 Jul 2021
Model Hierarchy Predictive Control of Robotic Systems He Li Robert J. Frei Patrick M. Wensing 31 47 0 17 Oct 2020
Tactile Dexterity: Manipulation Primitives with Tactile Feedback F. Hogan José Ballester Siyuan Dong Alberto Rodriguez 102 97 0 08 Feb 2020