3 citations · 3 across the 4 of their papers we have counts for
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UNIC: Learning Unified Multimodal Extrinsic Contact Estimation
Zhengtong Xu, Yuki Shirai
Contact-rich manipulation requires reliable estimation of extrinsic contacts-the interactions between a grasped object and its environment which provide essential contextual inform…
Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
Akshay Jaitly, Devesh K. Jha, Kei Ota +1
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However,…
Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations
Yuki Shirai, Kei Ota, Devesh K. Jha +1
Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex…
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
Yuki Shirai, Arvind Raghunathan, Devesh K. Jha
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously.…