3 citations · 3 across the 6 of their papers we have counts for
6 papers
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…
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…
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…
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features
Jeongmin Lee, Minji Lee, Dongjun Lee
For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some op…
Modular and Parallelizable Multibody Physics Simulation via Subsystem-Based ADMM
Jeongmin Lee, Minji Lee, Dongjun Lee
In this paper, we present a new multibody physics simulation framework that utilizes the subsystem-based structure and the Alternating Direction Method of Multiplier (ADMM). The ma…
Fast and Accurate Data-Driven Simulation Framework for Contact-Intensive Tight-Tolerance Robotic Assembly Tasks
Jaemin Yoon, Minji Lee, Dongwon Son +1
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-…