3 papers
cs.RO2026
Sampling-Based Constrained Motion Planning with Products of Experts
Amirreza Razmjoo, Teng Xue, Suhan Shetty +1
We present a novel approach to enhance the performance of sampling-based Model Predictive Control (MPC) in constrained optimization by leveraging products of experts. Our methodolo…
cs.RO2025
Robust Contact-rich Manipulation through Implicit Motor Adaptation
Teng Xue, Amirreza Razmjoo, Suhan Shetty +1
Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control.…
cs.RO2024
Robust Manipulation Primitive Learning via Domain Contraction
Teng Xue, Amirreza Razmjoo, Suhan Shetty +1
Contact-rich manipulation plays an important role in human daily activities, but uncertain parameters pose significant challenges for robots to achieve comparable performance throu…