2 papers
cs.RO2026
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
Jiayun Li, Dejian Gong, Georgia Chalvatzaki
Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches hav…
cs.RO2026
Stein Variational Ergodic Surface Coverage with SE(3) Constraints
Jiayun Li, Yufeng Jin, Sangli Teng +2
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic tra…