3 papers
cs.RO2025
Generating Stable Placements via Physics-guided Diffusion Models
Philippe Nadeau, Miguel Rogel, Ivan BiliÄ +2
Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and…
cs.RO2025
Robustness Assessment of Assemblies in Frictional Contact
Philippe Nadeau, Jonathan Kelly
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded…
cs.RO2025
Stable Object Placement Planning From Contact Point Robustness
Philippe Nadeau, Jonathan Kelly
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object place…