Fast Contact-Implicit Model-Predictive Control

12 July 2021

Papers citing "Fast Contact-Implicit Model-Predictive Control"

50 / 55 papers shown

Title
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang-Yang Li 49 0 0 08 May 2025
Quadrupedal Spine Control Strategies: Exploring Correlations Between System Dynamic Responses and Human Perspectives Nicholas Hafner Chaoran Liu C. Ishi H. Ishiguro 27 0 0 05 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 41 4 0 04 May 2025
Interior Point Differential Dynamic Programming, Redux Ming Xu Stephen Gould Iman Shames 30 0 0 11 Apr 2025
Efficient Gradient-Based Inference for Manipulation Planning in Contact Factor Graphs Jeongmin Lee Sunkyung Park Minji Lee Dongjun Lee 48 0 0 08 Mar 2025
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo John Z. Zhang Taylor A. Howell Zeji Yi Chaoyi Pan Guanya Shi Guannan Qu Tom Erez Yuval Tassa Zachary Manchester 62 1 0 06 Mar 2025
CMMLoc: Advancing Text-to-PointCloud Localization with Cauchy-Mixture-Model Based Framework Yanlong Xu Haoxuan Qu Jiaheng Liu Wenxiao Zhang Xun Yang 171 0 0 04 Mar 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 82 3 0 27 Feb 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 68 1 0 24 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 85 4 0 03 Dec 2024
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach Haowen Yao Riddhiman Laha Anirban Sinha Jonas Hall Luis F. C. Figueredo Nilanjan Chakraborty Sami Haddadin 34 1 0 29 Oct 2024
Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization Ioannis Tsikelis Konstantinos Chatzilygeroudis 33 0 0 03 Oct 2024
Stable Object Placement Under Geometric Uncertainty via Differentiable Contact Dynamics Linfeng Li Gang Yang Lin Shao David Hsu 36 0 0 26 Sep 2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation Zachary Olkin Aaron D. Ames 39 1 0 18 Sep 2024
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control Juan Alvarez-Padilla John Z. Zhang Sofia Kwok John M. Dolan Zachary Manchester 43 4 0 16 Sep 2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots Zixin Zhang John Z. Zhang Shuo Yang Zachary Manchester 31 2 0 16 Sep 2024
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation Wen Yang Wanxin Jin 50 3 0 18 Aug 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 61 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 36 2 0 02 Aug 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Yang Liu Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 51 50 0 09 Jul 2024
Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA Adarsh Salagame Harin Kumar Nallaguntla Eric N. Sihite G. Schirner Alireza Ramezani 28 2 0 19 Jun 2024
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning Xuan Lin Gabriel I. Fernandez Dennis W. Hong 43 0 0 07 Jun 2024
Accelerate Hybrid Model Predictive Control using Generalized Benders Decomposition Xuan Lin AI4CE 33 1 0 02 Jun 2024
Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots Jing Cheng Yasser G. Alqaham Zhenyu Gan 23 1 0 27 May 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 32 3 0 27 May 2024
Dynamic On-Palm Manipulation via Controlled Sliding William Yang Michael Posa 46 9 0 14 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
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion Boyuan Liang Lingfeng Sun Xinghao Zhu Bike Zhang Ziyin Xiong Yixiao Wang Chenran Li Koushil Sreenath Masayoshi Tomizuka 79 3 0 29 Mar 2024
Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC Sam Schoedel Khai Nguyen Elakhya Nedumaran Brian Plancher Zachary Manchester 52 2 0 26 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 47 13 0 06 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 51 4 0 29 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 33 77 0 30 Jan 2024
Fast and Continual Learning for Hybrid Control Policies using Generalized Benders Decomposition Xuan Lin 21 0 0 01 Jan 2024
Task Planning for Multiple Item Insertion using ADMM Gavin Zheng 21 0 0 20 Dec 2023
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 44 5 0 14 Dec 2023
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning Wei-Cheng Huang Alp Aydinoglu Wanxin Jin Michael Posa 39 3 0 15 Oct 2023
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation Filippo Rozzi L. Roveda Kevin Haninger 26 3 0 07 Oct 2023
Generalized Benders Decomposition with Continual Learning for Hybrid Model Predictive Control in Dynamic Environment Xuan Lin 31 2 0 05 Oct 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 44 15 0 04 Sep 2023
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery Robert Griffin James Foster Stefan Fasano Brandon Shrewsbury Sylvain Bertrand 33 7 0 22 Jul 2023
Risk-Averse Trajectory Optimization via Sample Average Approximation T. Lew Riccardo Bonalli Marco Pavone 26 9 0 06 Jul 2023
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos John Z. Zhang Shuo Yang Gengshan Yang Arun L. Bishop Deva Ramanan Zachary Manchester 49 18 0 27 Apr 2023
Consensus Complementarity Control for Multi-Contact MPC Alp Aydinoglu Adam Wei Wei-Cheng Huang Michael Posa 34 23 0 21 Apr 2023
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization Michael R. Turski Joseph Norby Aaron M. Johnson 11 3 0 11 Apr 2023
Single-Level Differentiable Contact Simulation Simon Le Cleac'h Mac Schwager Zachary Manchester Vikas Sindhwani Peter R. Florence Sumeet Singh 31 5 0 13 Dec 2022
Task-Driven Hybrid Model Reduction for Dexterous Manipulation Wanxin Jin Michael Posa 35 15 0 30 Nov 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 30 141 0 21 Nov 2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion Angelo Bratta Avadesh Meduri Michele Focchi Ludovic Righetti Claudio Semini 32 3 0 30 Sep 2022
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP He Li Tingnan Zhang Wenhao Yu Patrick M. Wensing 42 12 0 28 Sep 2022
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion Xuan Lin Feng Xu Alexander Schperberg Dennis W. Hong 35 3 0 16 Jul 2022