29 citations · 104 across the 10 of their papers we have counts for
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cs.RO2023★ 11 cited
Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan
Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using…
cs.RO2023★ 10 cited
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to…