3 papers
cs.RO2026
Data and Learning Where it Matters for Contact-Rich Manipulation
Oliver Hausdörfer, Linus Schwarz, Gabor Marko +7
Learned policies trained end-to-end on large datasets often remain brittle in high-precision tasks and struggle with generalization. We find that these limitations largely stem fro…
cs.RO2026
Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives
Christian Dietz, Sebastian Albrecht, Gianluca Frison +2
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods…
math.OC2024
High Accuracy Numerical Optimal Control for Rigid Bodies with Patch Contacts through Equivalent Contact Points -- Extended Version
Christian Dietz, Armin NurkanoviÄ, Sebastian Albrecht +1
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high…