Dexterous Contact-Rich Manipulation via the Contact Trust Region.
CoRR, May, 2025
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization.
CoRR, February, 2025
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
CoRR, 2024
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-Dynamic Contact Models.
IEEE Trans. Robotics, December, 2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching.
Proceedings of the Conference on Robot Learning, 2023
Bundled Gradients Through Contact Via Randomized Smoothing.
IEEE Robotics Autom. Lett., 2022
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Do Differentiable Simulators Give Better Policy Gradients?
Proceedings of the International Conference on Machine Learning, 2022
The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation.
Proceedings of the Algorithmic Foundations of Robotics XIV, 2021
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Optimal Motion Planning for Multi-Modal Hybrid Locomotion.
CoRR, 2019
Towards a humanoid-oriented movement writing.
Proceedings of the 2017 IEEE International Conference on Systems, Man, and Cybernetics, 2017