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cs.RO2025
Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands
Yunshuang Li, Yiyang Ling, Gaurav S. Sukhatme +1
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relatio…
cs.RO2025
IMPACT: Intelligent Motion Planning with Acceptable Contact Trajectories via Vision-Language Models
Yiyang Ling, Karan Owalekar, Oluwatobiloba Adesanya +2
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds colli…