SCSP is a cascaded optimization framework using a surrogate contact model and discrete-continuous search to enable simultaneous contact selection and planning for robust contact-rich manipulation.
Robust Model-Based In-Hand Manip- ulation with Integrated Real-Time Motion-Contact Planning and Tracking
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MorphIt is a gradient-based spherical approximation framework for robot morphology that provides tunable control over accuracy-efficiency tradeoffs and outperforms baselines in speed and geometric fidelity.
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Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
SCSP is a cascaded optimization framework using a surrogate contact model and discrete-continuous search to enable simultaneous contact selection and planning for robust contact-rich manipulation.
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MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
MorphIt is a gradient-based spherical approximation framework for robot morphology that provides tunable control over accuracy-efficiency tradeoffs and outperforms baselines in speed and geometric fidelity.