Cover Image

Learning the Contact Manifold for Accurate Pose Estimation During Peg-in-Hole Insertion of Complex Geometries

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Negi, Abhay, Manyar, Omey M., Penmetsa, Dhanush Kumar Varma, Gupta, Satyandra K.
Format:	Preprint
Published:	2025
Subjects:	Robotics Computational Geometry
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Accurate Pose Estimation Using Contact Manifold Sampling for Safe Peg-in-Hole Insertion of Complex Geometries
by: Negi, Abhay, et al.
Published: (2025)

Kinematic Model Optimization via Differentiable Contact Manifold for In-Space Manipulation
by: Negi, Abhay, et al.
Published: (2025)

Preference-Conditioned Reinforcement Learning for Space-Time Efficient Online 3D Bin Packing
by: Sarawgi, Nikita, et al.
Published: (2026)

Touch2Insert: Zero-Shot Peg Insertion by Touching Intersections of Peg and Hole
by: Yajima, Masaru, et al.
Published: (2026)

Zero-Shot Peg Insertion: Identifying Mating Holes and Estimating SE(2) Poses with Vision-Language Models
by: Yajima, Masaru, et al.
Published: (2025)

Learning Contact Dynamics through Touching: Action-conditional Graph Neural Networks for Robotic Peg Insertion
by: Yi, Zongyao, et al.
Published: (2025)

Efficient Incremental Penetration Depth Estimation between Convex Geometries
by: Gao, Wei
Published: (2023)

Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly
by: Zhao, Yongqiang, et al.
Published: (2026)

Fast and Accurate Collision Probability Estimation for Autonomous Vehicles using Adaptive Sigma-Point Sampling
by: Cossette, Charles Champagne, et al.
Published: (2025)

Relative Pose Observability Analysis Using Dual Quaternions
by: Andrews, Nicholas B., et al.
Published: (2024)

Foam: A Tool for Spherical Approximation of Robot Geometry
by: Coumar, Sai, et al.
Published: (2025)

Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
by: Chen, Yiting, et al.
Published: (2025)

Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects
by: Rigo, Alberto, et al.
Published: (2023)

Geometric Contact Flows: Contactomorphisms for Dynamics and Control
by: Testa, Andrea, et al.
Published: (2025)

Decoupling Geometry from Optimization in 2D Irregular Cutting and Packing Problems: an Open-Source Collision Detection Engine
by: Gardeyn, Jeroen, et al.
Published: (2025)

Robotic Compliant Object Prying Using Diffusion Policy Guided by Vision and Force Observations
by: Kang, Jeon Ho, et al.
Published: (2025)

On The Computational Complexity of Minimum Aerial Photographs for Planar Region Coverage
by: Feng, Si Wei
Published: (2025)

A Note on the Time Complexity of Using Subdivision Methods for the Approximation of Fibers
by: Bilevich, Michael M., et al.
Published: (2025)

RPT*: Global Planning with Probabilistic Terminals for Target Search in Complex Environments
by: Lyu, Yunpeng, et al.
Published: (2026)

Precise Well-plate Placing Utilizing Contact During Sliding with Tactile-based Pose Estimation for Laboratory Automation
by: Pai, Sameer, et al.
Published: (2023)

Exploring Pose-Guided Imitation Learning for Robotic Precise Insertion
by: Sun, Han, et al.
Published: (2025)

$C^0$-Contact Geometry of Surfaces in 3-Manifolds
by: Serraille, Baptiste, et al.
Published: (2025)

Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
by: Van der Merwe, Mark, et al.
Published: (2025)

Reconfiguration and Locomotion with Joint Movements in the Amoebot Model
by: Padalkin, Andreas, et al.
Published: (2023)

Revisiting Accurate Geometry for Morse-Smale Complexes
by: Thanh, Son Le, et al.
Published: (2024)

Physics-Encoded Graph Neural Networks for Deformation Prediction under Contact
by: Saleh, Mahdi, et al.
Published: (2024)

A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the set of Configurations of Certain Rank of Lower Pair Linkages
by: Mueller, Andreas
Published: (2025)

Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks
by: Shokry, Ahmed, et al.
Published: (2024)

A Visual Reinforcement Learning-Based Separate Primitive Policy for Peg-in-Hole Tasks
by: Xu, Zichun, et al.
Published: (2025)

A General Peg-in-Hole Assembly Policy Based on Domain Randomized Reinforcement Learning
by: Liu, Xinyu, et al.
Published: (2025)

Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits
by: Yao, Shaoxiong, et al.
Published: (2024)

Properties of Holomorphic $p$-Contact Manifolds
by: Kasuya, Hisashi, et al.
Published: (2025)

Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
by: Jaitly, Akshay, et al.
Published: (2025)

A Peg-in-hole Task Strategy for Holes in Concrete
by: Yasutomi, André Yuji, et al.
Published: (2024)

On the Exponential Growth of Geometric Shapes
by: Almalki, Nada, et al.
Published: (2023)

Leveraging Procedural Generation for Learning Autonomous Peg-in-Hole Assembly in Space
by: Orsula, Andrej, et al.
Published: (2024)

Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes
by: Xie, Liang, et al.
Published: (2022)

Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly
by: Lachner, Johannes, et al.
Published: (2024)

Bayesian Active Object Recognition and 6D Pose Estimation from Multimodal Contact Sensing
by: Zheng, Haodong, et al.
Published: (2026)

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