3 papers
cs.RO2026
Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation
Wei-Chen Li, Jeffrey Fang, Sasanka Polisetti +2
We present CORD-SLS, a real-time control method for safe deformable object manipulation, with a focus on ropes and cloth. At its core is a GPU-parallel differentiable simulator wit…
cs.RO2026
Certified Gradient-Based Contact-Rich Manipulation via Smoothing-Error Reachable Tubes
Wei-Chen Li, Glen Chou
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging beca…
cs.RO2025
A Convex Formulation of Compliant Contact between Filaments and Rigid Bodies
Wei-Chen Li, Glen Chou
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.…