3 papers
cs.RO2026
CRISP: Contact-Rich Robotic Simulation Platform with Extensive Geometries and Contact Solvers
Somang Lee, Sunkyung Park, Jinhee Yun +2
We present CRISP (Contact-RIch Simulation Platform), a high-fidelity physics engine tailored for complex multi-contact simulations such as tight-tolerance robotic manipulation. Ach…
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…