Towards Tight Convex Relaxations for Contact-Rich Manipulation

15 February 2024

Papers citing "Towards Tight Convex Relaxations for Contact-Rich Manipulation"

23 / 23 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
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling Lujie Yang Tobia Marcucci P. Parrilo Russ Tedrake 42 3 0 17 Apr 2025
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels Adam Wei Abhinav Agarwal Boyuan Chen Rohan Bosworth Nicholas Pfaff Russ Tedrake 45 4 0 28 Mar 2025
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 56 1 0 11 Mar 2025
Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries Thomas Cohn Russ Tedrake 38 0 0 01 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 76 2 0 27 Feb 2025
BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics Keyi Shen Jiangwei Yu Huan Zhang Yunzhu Li Yunzhu Li 87 1 0 12 Dec 2024
Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization Carlos Gonzalez Luis Sentis 23 0 0 10 Oct 2024
Multi-Query Shortest-Path Problem in Graphs of Convex Sets Savva Morozov Tobia Marcucci Alexandre Amice B. P. Graesdal Rohan Bosworth P. Parrilo Russ Tedrake 18 4 0 29 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yicong Li Ruohan Zhang Li Fei-Fei 46 88 0 03 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
GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets S. Y. C. Chia Rebecca H. Jiang B. P. Graesdal L. Kaelbling Russ Tedrake 41 9 0 11 Jul 2024
Fast and Certifiable Trajectory Optimization Shucheng Kang Xiaoyang Xu Jay Sarva Ling Liang Heng Yang 46 8 0 09 Jun 2024
Adaptive Distance Functions via Kelvin Transformation Rafael I. Cabral Muchacho Florian T. Pokorny 37 2 0 05 Jun 2024
General In-Hand Object Rotation with Vision and Touch Haozhi Qi Brent Yi Sudharshan Suresh Mike Lambeta Y. Ma Roberto Calandra Jitendra Malik 58 81 0 18 Sep 2023
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations Frederike Dumbgen Connor T. Holmes Ben Agro T. Barfoot 21 10 0 10 Aug 2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation Sangli Teng A. Jasour Ram Vasudevan Maani Ghaffari 37 13 0 23 May 2023
Rotating without Seeing: Towards In-hand Dexterity through Touch Zhao-Heng Yin Binghao Huang Yuzhe Qin Qifeng Chen Xiaolong Wang 104 91 0 20 Mar 2023
Safe and Smooth: Certified Continuous-Time Range-Only Localization Frederike Dumbgen Connor T. Holmes T. Barfoot 40 17 0 09 Sep 2022
Planning with Diffusion for Flexible Behavior Synthesis Michael Janner Yilun Du J. Tenenbaum Sergey Levine DiffM 202 629 0 20 May 2022
Bundled Gradients through Contact via Randomized Smoothing H. Suh Tao Pang Russ Tedrake 78 52 0 11 Sep 2021
Trajectory Optimization with Optimization-Based Dynamics Taylor A. Howell Simon Le Cleac'h Sumeet Singh Peter R. Florence Zachary Manchester Vikas Sindhwani AI4CE 79 27 0 10 Sep 2021
TEASER: Fast and Certifiable Point Cloud Registration Heng Yang J. Shi Luca Carlone 3DPC 139 657 0 21 Jan 2020