20 citations · 150 across the 43 of their papers we have counts for
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cs.RO2024
Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Contact-implicit trajectory optimization (CITO) is an effective method to plan complex trajectories for various contact-rich systems including manipulation and locomotion. CITO for…
cs.RO2024
iPolicy: Incremental Policy Algorithms for Feedback Motion Planning
Guoxiang Zhao, Devesh K. Jha, Yebin Wang +1
This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by t…