Bundled Gradients through Contact via Randomized Smoothing

11 September 2021

Papers citing "Bundled Gradients through Contact via Randomized Smoothing"

40 / 40 papers shown

Title
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 36 4 0 04 May 2025
Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization Daniel Rakita Chen Liang Qian Wang 24 0 0 26 Apr 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
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 57 3 0 10 Nov 2024
DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation Joshua Bagajo Clemens Schwarke Victor Klemm Ignat Georgiev Jean-Pierre Sleiman J. Tordesillas Animesh Garg Marco Hutter 31 0 0 04 Nov 2024
Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models Jacob Levy T. Westenbroek David Fridovich-Keil 39 7 0 11 Oct 2024
Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly Johannes Lachner F. Tessari A. Michael West Jr. Moses C. Nah Neville Hogan 25 0 0 01 Oct 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 61 6 0 14 Aug 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 16 0 03 Jun 2024
Constrained Dynamics Simulation: More With Less A. Sathya AI4CE 31 0 0 31 May 2024
QuasiSim: Parameterized Quasi-Physical Simulators for Dexterous Manipulations Transfer Xueyi Liu Kangbo Lyu Jieqiong Zhang Tao Du Li Yi 43 4 0 11 Apr 2024
Learning Quadrupedal Locomotion via Differentiable Simulation Clemens Schwarke Victor Klemm J. Tordesillas Jean-Pierre Sleiman Marco Hutter 45 5 0 03 Apr 2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation B. P. Graesdal S. Y. C. Chia Tobia Marcucci Savva Morozov Alexandre Amice P. Parrilo Russ Tedrake 58 21 0 15 Feb 2024
Model-Based Reparameterization Policy Gradient Methods: Theory and Practical Algorithms Shenao Zhang Boyi Liu Zhaoran Wang Tuo Zhao 24 2 0 30 Oct 2023
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation Filippo Rozzi L. Roveda Kevin Haninger 23 3 0 07 Oct 2023
Smoothing Methods for Automatic Differentiation Across Conditional Branches J. N. Kreikemeyer Philipp Andelfinger 41 6 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
Zero Grads: Learning Local Surrogate Losses for Non-Differentiable Graphics Michael Fischer Tobias Ritschel 27 2 0 10 Aug 2023
Dynamic-Resolution Model Learning for Object Pile Manipulation Yixuan Wang Yunzhu Li Katherine Driggs-Campbell Li Fei-Fei Jiajun Wu 32 19 0 29 Jun 2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching H. Suh Glen Chou Hongkai Dai Lujie Yang Abhishek Gupta Russ Tedrake DiffM OffRL 37 7 0 24 Jun 2023
Self-Supervised Reinforcement Learning that Transfers using Random Features Boyuan Chen Chuning Zhu Pulkit Agrawal Kaipeng Zhang Abhishek Gupta OffRL SSL 20 6 0 26 May 2023
Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects Sirui Chen A. Wu C.Karen Liu 23 17 0 08 May 2023
Improving Gradient Computation for Differentiable Physics Simulation with Contacts Yaofeng Desmond Zhong Jiequn Han Biswadip Dey Georgia Olympia Brikis 40 3 0 28 Apr 2023
Contact Models in Robotics: a Comparative Analysis Quentin Le Lidec Wilson Jallet Louis Montaut Ivan Laptev Cordelia Schmid Justin Carpentier 33 28 0 13 Apr 2023
Oracle-Efficient Smoothed Online Learning for Piecewise Continuous Decision Making Adam Block Alexander Rakhlin Max Simchowitz 37 4 0 10 Feb 2023
Smoothed Online Learning for Prediction in Piecewise Affine Systems Adam Block Max Simchowitz Russ Tedrake 21 12 0 26 Jan 2023
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 27 139 0 21 Nov 2022
Differentiable Collision Detection: a Randomized Smoothing Approach Louis Montaut Quentin Le Lidec Antoine Bambade Vladimir Petrik Josef Sivic Justin Carpentier 46 29 0 19 Sep 2022
Augmenting differentiable physics with randomized smoothing Quentin Le Lidec Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 34 4 0 23 Jun 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H. Suh Lujie Yang Russ Tedrake 42 101 0 22 Jun 2022
Certifiable Robot Design Optimization using Differentiable Programming Charles Dawson Chuchu Fan 23 7 0 22 Apr 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 38 24 0 08 Mar 2022
Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic Charles Dawson Chuchu Fan 22 12 0 03 Mar 2022
Dojo: A Differentiable Physics Engine for Robotics Taylor A. Howell Simon Le Cleac'h Jan Brüdigam J. Zico Kolter Mac Schwager Zachary Manchester 21 34 0 02 Mar 2022
Do Differentiable Simulators Give Better Policy Gradients? H. Suh Max Simchowitz Kaipeng Zhang Russ Tedrake 30 95 0 02 Feb 2022
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use H. Suh Naveen Kuppuswamy Tao Pang P. Mitiguy A. Alspach Russ Tedrake 19 12 0 02 Nov 2021
Trajectory Optimization with Optimization-Based Dynamics Taylor A. Howell Simon Le Cleac'h Sumeet Singh Peter R. Florence Zachary Manchester Vikas Sindhwani AI4CE 84 27 0 10 Sep 2021
Deep Dynamics Models for Learning Dexterous Manipulation Anusha Nagabandi K. Konolige Sergey Levine Vikash Kumar 154 408 0 25 Sep 2019
Emergence of Locomotion Behaviours in Rich Environments N. Heess TB Dhruva S. Sriram Jay Lemmon J. Merel ... Tom Erez Ziyun Wang S. M. Ali Eslami Martin Riedmiller David Silver 134 928 0 07 Jul 2017
Linear Convergence of Gradient and Proximal-Gradient Methods Under the Polyak-Łojasiewicz Condition Hamed Karimi J. Nutini Mark W. Schmidt 139 1,199 0 16 Aug 2016