4 papers
Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
Simin Liu, Tong Zhao, Bernhard Paus Graesdal +5
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more e…
Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Bernhard Paus Graesdal +3
We study the Shortest-Walk Problem (SWP) in a Graph of Convex Sets (GCS). A GCS is a graph where each vertex is paired with a convex program, and each edge couples adjacent program…
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Lujie Yang, H. J. Terry Suh, Tong Zhao +5
We present a low-cost data generation pipeline that integrates physics-based simulation, human demonstrations, and model-based planning to efficiently generate large-scale, high-qu…
Multi-Query Shortest-Path Problem in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Alexandre Amice +4
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant pro…