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cs.RO2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Abhinav Kumar, Thomas Power, Fan Yang +4
Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods…
cs.RO2024
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints
Fan Yang, Thomas Power, Sergio Aguilera Marinovic +3
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In con…
cs.RO2024
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models
Marco Faroni, Dmitry Berenson
Robotic manipulation relies on analytical or learned models to simulate the system dynamics. These models are often inaccurate and based on offline information, so that the robot p…