TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation

28 September 2021

Papers citing "TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation"

23 / 23 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
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 43 0 0 01 Oct 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 54 7 0 22 Sep 2024
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation Victor Leve João Moura Namiko Saito Steve Tonneau S. Vijayakumar 37 2 0 28 Aug 2024
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints Fan Yang Thomas Power Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 35 3 0 23 Aug 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
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
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
Adaptive Motion Planning for Multi-fingered Functional Grasp via Force Feedback Dongying Tian Xiangbo Lin Yi Sun 24 3 0 22 Jan 2024
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal M. Asselmeier Jane Ivanova Ziyi Zhou Patricio A. Vela Ye Zhao 24 4 0 14 Nov 2023
Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation Yuqi Xiang Feitong Chen Qinsi Wang Yang Gang Xiang Zhang Xinghao Zhu Xingyu Liu Lin Shao 32 1 0 07 Oct 2023
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation Filippo Rozzi L. Roveda Kevin Haninger 26 3 0 07 Oct 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 23 51 0 17 Aug 2023
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration Xianyi Cheng Sarvesh Patil Zeynep Temel Oliver Kroemer M. T. Mason 19 27 0 01 Jul 2023
Contact-Aware Non-prehensile Robotic Manipulation for Object Retrieval in Cluttered Environments Yongpeng Jiang Yongyi Jia Xiang Li 25 0 0 07 Mar 2023
Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllers Gagan Khandate C. Mehlman Xingsheng Wei M. Ciocarlie 25 3 0 06 Mar 2023
Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes Tao Chen Megha H. Tippur Siyang Wu Vikash Kumar Edward H. Adelson Pulkit Agrawal 28 114 0 21 Nov 2022
Quasistatic contact-rich manipulation via linear complementarity quadratic programming S. Katayama Tatsunori Taniai Kazutoshi Tanaka 31 5 0 25 Oct 2022
Long Horizon Planning through Contact using Discrete Search and Continuous Optimization Ramkumar Natarajan Garrison L. H. Johnston Nabil Simaan Maxim Likhachev Howie Choset 30 3 0 16 Oct 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H. Suh Lujie Yang Russ Tedrake 45 102 0 22 Jun 2022
Efficient Object Manipulation Planning with Monte Carlo Tree Search Huaijiang Zhu Avadesh Meduri Ludovic Righetti 24 11 0 17 Jun 2022
Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D Xianyi Cheng Eric Huang Yifan Hou M. T. Mason 16 49 0 30 May 2021
Deep Dynamics Models for Learning Dexterous Manipulation Anusha Nagabandi K. Konolige Sergey Levine Vikash Kumar 157 408 0 25 Sep 2019