:: Library Catalog

Cover Image

Saved in:

Bibliographic Details
Main Authors:	Kurtz, Vince, Castro, Alejandro, Önol, Aykut Özgün, Lin, Hai
Format:	Preprint
Published:	2023
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2309.01813
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

CENIC: Convex Error-controlled Numerical Integration for Contact
by: Kurtz, Vince, et al.
Published: (2025)

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion
by: Esteban, Sergio A., et al.
Published: (2025)

Equality Constrained Diffusion for Direct Trajectory Optimization
by: Kurtz, Vince, et al.
Published: (2024)

Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Tasks
by: Kurtz, Vince, et al.
Published: (2025)

On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control
by: Esteban, Sergio A., et al.
Published: (2026)

Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories
by: Kim, Gijeong, et al.
Published: (2023)

IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
by: Li, Jiayun, et al.
Published: (2026)

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
by: Huang, Wei-Cheng, et al.
Published: (2023)

Safety-Critical Control for Smoothed Implicit Contact Dynamics
by: Lee, Haegu, et al.
Published: (2026)

Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
by: Papatheodorou, Aristotelis, et al.
Published: (2023)

DROP: Dexterous Reorientation via Online Planning
by: Li, Albert H., et al.
Published: (2024)

Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach
by: Jiang, Yongpeng, et al.
Published: (2024)

Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition
by: Kim, Sangmin, et al.
Published: (2025)

Trajectory Optimization under Contact Timing Uncertainties
by: Zhao, Haizhou, et al.
Published: (2024)

Neural Trajectory Model: Implicit Neural Trajectory Representation for Trajectories Generation
by: Yu, Zihan, et al.
Published: (2024)

Model Predictive Trajectory Optimization With Dynamically Changing Waypoints for Serial Manipulators
by: Beck, Florian, et al.
Published: (2024)

Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry
by: Zhang, Mengchao, et al.
Published: (2024)

Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation
by: Tian, Yang, et al.
Published: (2024)

Uncertainty Guided Exploratory Trajectory Optimization for Sampling-Based Model Predictive Control
by: Poyrazoglu, O. Goktug, et al.
Published: (2026)

Interactive World Simulator for Robot Policy Training and Evaluation
by: Wang, Yixuan, et al.
Published: (2026)

Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion
by: Huang, Zixuan, et al.
Published: (2024)

On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
by: Li, Yulin, et al.
Published: (2025)

Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey
by: Jankowski, Julius, et al.
Published: (2024)

Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
by: Shirai, Yuki, et al.
Published: (2023)

Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
by: Khandelwal, Nimesh, et al.
Published: (2024)

Control of Legged Robots using Model Predictive Optimized Path Integral
by: Keshavarz, Hossein, et al.
Published: (2025)

Irrotational Contact Fields
by: Castro, Alejandro, et al.
Published: (2023)

Transformer-based Model Predictive Control: Trajectory Optimization via Sequence Modeling
by: Celestini, Davide, et al.
Published: (2024)

Inverse Mixed Strategy Games with Generative Trajectory Models
by: Sun, Max Muchen, et al.
Published: (2025)

Wallbounce : Push wall to navigate with Contact-Implicit MPC
by: Liu, Xiaohan, et al.
Published: (2024)

Contact-Implicit Modeling and Simulation of a Snake Robot on Compliant and Granular Terrain
by: Hublikar, Haroon
Published: (2025)

GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
by: Du, Alexander, et al.
Published: (2025)

Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning
by: Phiquepal, Camille, et al.
Published: (2026)

Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS
by: Wei, Zhongqi, et al.
Published: (2026)

UAV-SEAD: State Estimation Anomaly Dataset for UAVs
by: Kabaoglu, Aykut, et al.
Published: (2026)

Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks
by: Han, Seo Wook, et al.
Published: (2024)

Robust Contact-rich Manipulation through Implicit Motor Adaptation
by: Xue, Teng, et al.
Published: (2024)

A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
by: Mahalingam, Dasharadhan, et al.
Published: (2024)

Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization
by: Salagame, Adarsh, et al.
Published: (2025)

Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
by: Zhang, Xiaoyu, et al.
Published: (2026)