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cs.RO2025
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…
cs.RO2025
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…