19 citations · 36 across the 4 of their papers we have counts for
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cs.RO2026
GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization
Liangwang Ruan, Jiayi Chen, He Wang +1
Synthesizing high-quality dexterous grasps is a fundamental challenge in robot manipulation, requiring adherence to diversity, kinematic feasibility (valid hand-object contact with…
cs.RO2025
Robust Differentiable Collision Detection for General Objects
Jiayi Chen, Wei Zhao, Liangwang Ruan +2
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the cl…