Cover Image

Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Zhu, Huaijiang, Zhao, Tong, Ni, Xinpei, Wang, Jiuguang, Fang, Kuan, Righetti, Ludovic, Pang, Tao
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation
by: Li, Xuanlin, et al.
Published: (2024)

Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
by: Shirai, Yuki, et al.
Published: (2024)

Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation
by: Brudermüller, Lara, et al.
Published: (2025)

Dexterous Contact-Rich Manipulation via the Contact Trust Region
by: Suh, H. J. Terry, et al.
Published: (2025)

Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
by: Liu, Simin, et al.
Published: (2026)

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
by: Yang, Lujie, et al.
Published: (2025)

Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
by: Brüdigam, Jan, et al.
Published: (2024)

Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations
by: Zhou, Bo, et al.
Published: (2024)

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
by: Bratta, Angelo, et al.
Published: (2022)

FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation
by: He, Zihao, et al.
Published: (2024)

SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
by: Fang, Kuan, et al.
Published: (2025)

Diffusion-based learning of contact plans for agile locomotion
by: Dhédin, Victor, et al.
Published: (2024)

Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
by: Fang, Hongjie, et al.
Published: (2026)

Is open robotics innovation a threat to international peace and security?
by: Righetti, Ludovic, et al.
Published: (2026)

Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization
by: Zhao, Haizhou, et al.
Published: (2026)

Active Admittance Control with Iterative Learning for General-Purpose Contact-Rich Manipulation
by: Zhou, Bo, et al.
Published: (2024)

Versatile Loco-Manipulation through Flexible Interlimb Coordination
by: Zhu, Xinghao, et al.
Published: (2025)

Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
by: Xue, Han, et al.
Published: (2025)

Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty
by: Gazar, Ahmad, et al.
Published: (2023)

A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
by: Zhu, Xiang, et al.
Published: (2022)

Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
by: Zhang, Zhe, et al.
Published: (2026)

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

HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
by: Wei, Lai, et al.
Published: (2025)

WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models
by: Khorrambakht, R., et al.
Published: (2025)

Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations
by: Mehrdad, Sarmad, et al.
Published: (2025)

ManipForce: Force-Guided Policy Learning with Frequency-Aware Representation for Contact-Rich Manipulation
by: Lee, Geonhyup, et al.
Published: (2025)

Learning Human Reaching Optimality Principles from Minimal Observation Inverse Reinforcement Learning
by: Mehrdad, Sarmad, et al.
Published: (2025)

From a Single Demonstration to a General Policy for Contact-Rich Manipulation
by: Li, Xing, et al.
Published: (2026)

Accelerated gradient descent for high frequency Model Predictive Control
by: Zhang, Jianghan, et al.
Published: (2024)

Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles
by: Kiemel, Jonas, et al.
Published: (2024)

Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
by: Leve, Victor, et al.
Published: (2024)

Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
by: Geiger, Noah, et al.
Published: (2025)

Direction Matters: Learning Force Direction Enables Sim-to-Real Contact-Rich Manipulation
by: Yang, Yifei, et al.
Published: (2026)

PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
by: Wang, Mingxin, et al.
Published: (2026)

Image Generation as a Visual Planner for Robotic Manipulation
by: Pang, Ye
Published: (2025)

A Low-Cost Vision-Based Tactile Gripper with Pretraining Learning for Contact-Rich Manipulation
by: Liu, Yaohua, et al.
Published: (2026)

Toward Global Intent Inference for Human Motion by Inverse Reinforcement Learning
by: Mehrdad, Sarmad, et al.
Published: (2026)

Recasting Classical Motion Planning for Contact-Rich Manipulation
by: Yang, Lin, et al.
Published: (2025)

Soft and Compliant Contact-Rich Hair Manipulation and Care
by: Yoo, Uksang, et al.
Published: (2025)

Towards Tight Convex Relaxations for Contact-Rich Manipulation
by: Graesdal, Bernhard Paus, et al.
Published: (2024)