3 papers
cs.RO2025
Efficient Gradient-Based Inference for Manipulation Planning in Contact Factor Graphs
Jeongmin Lee, Sunkyung Park, Minji Lee +1
This paper presents a framework designed to tackle a range of planning problems arise in manipulation, which typically involve complex geometric-physical reasoning related to conta…
cs.RO2025
Variations of Augmented Lagrangian for Robotic Multi-Contact Simulation
Jeongmin Lee, Minji Lee, Sunkyung Park +2
The multi-contact nonlinear complementarity problem (NCP) is a naturally arising challenge in robotic simulations. Achieving high performance in terms of both accuracy and efficien…
cs.RO2024
Narrow Passage Path Planning using Collision Constraint Interpolation
Minji Lee, Jeongmin Lee, Dongjun Lee
Narrow passage path planning is a prevalent problem from industrial to household sites, often facing difficulties in finding feasible paths or requiring excessive computational res…