2 papers
cs.RO2025
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
Wanxin Jin
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Tra…
cs.RO2024
Distributed Differentiable Dynamic Game for Multi-robot Coordination
Yizhi Zhou, Wanxin Jin, Xuan Wang
This paper develops a Distributed Differentiable Dynamic Game (D3G) framework, which can efficiently solve the forward and inverse problems in multi-robot coordination. We formulat…