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cs.RO2023
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…
cs.RO2023
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…