Cover Image

Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Pasricha, Anuj, Koh, Joewie, Vakil, Jay, Roncone, Alessandro
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Towards Super-Nominal Payload Handling: Inverse Dynamics Analysis for Multi-Skill Robotic Manipulation
by: Pasricha, Anuj, et al.
Published: (2024)

The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
by: Pasricha, Anuj, et al.
Published: (2024)

PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation
by: Pasricha, Anuj, et al.
Published: (2022)

Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics
by: Abderezaei, Ava, et al.
Published: (2024)

Moving On, Even When You're Broken: Fail-Active Trajectory Generation via Diffusion Policies Conditioned on Embodiment and Task
by: Briscoe-Martinez, Gilberto G., et al.
Published: (2026)

Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure
by: Briscoe-Martinez, Gilberto, et al.
Published: (2024)

Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
by: Gautam, Yaashia, et al.
Published: (2025)

Employing Laban Shape for Generating Emotionally and Functionally Expressive Trajectories in Robotic Manipulators
by: Raghu, Srikrishna Bangalore, et al.
Published: (2025)

ROMA-iQSS: An Objective Alignment Approach via State-Based Value Learning and ROund-Robin Multi-Agent Scheduling
by: Lin, Chi-Hui, et al.
Published: (2024)

FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
by: Pudasaini, Niraj, et al.
Published: (2026)

BBoE: Leveraging Bundle of Edges for Kinodynamic Bidirectional Motion Planning
by: Raghu, Srikrishna Bangalore, et al.
Published: (2025)

In-the-Wild Compliant Manipulation with UMI-FT
by: Choi, Hojung, et al.
Published: (2026)

Compliant Non-Prehensile Pushing Manipulation
by: Cufino, Francesco, et al.
Published: (2026)

Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation
by: Aburub, Malek, et al.
Published: (2024)

CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning
by: Tung, Yi-Shiuan, et al.
Published: (2025)

Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
by: Abderezaei, Ava, et al.
Published: (2026)

Impedance Control for Manipulators Handling Heavy Payloads
by: Aghili, Farhad
Published: (2024)

Robot and Overhead Crane Collaboration Scheme to Enhance Payload Manipulation
by: Rosales, Antonio, et al.
Published: (2025)

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

Compliant In-hand Rolling Manipulation Using Tactile Sensing
by: Weng, Huan, et al.
Published: (2026)

A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
by: Escobedo, Caleb, et al.
Published: (2025)

MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
by: Nechyporenko, Nataliya, et al.
Published: (2025)

A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays
by: Kohlbrenner, Carson, et al.
Published: (2024)

CAT-RRT: Motion Planning that Admits Contact One Link at a Time
by: Nechyporenko, Nataliya, et al.
Published: (2023)

Wrench-Aware Admittance Control for Unknown-Payload Manipulation
by: Gholampour, Hossein, et al.
Published: (2026)

Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
by: Oller, Miquel, et al.
Published: (2025)

Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator
by: Uthayasooriyan, Anuraj, et al.
Published: (2026)

FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation
by: Shang, Siqi, et al.
Published: (2025)

A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
by: Su, William, et al.
Published: (2026)

Diffusion Trajectory-guided Policy for Long-horizon Robot Manipulation
by: Fan, Shichao, et al.
Published: (2025)

Workspace Optimization Techniques to Improve Prediction of Human Motion During Human-Robot Collaboration
by: Tung, Yi-Shiuan, et al.
Published: (2024)

GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins
by: Kohlbrenner, Carson, et al.
Published: (2024)

Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
by: Kohlbrenner, Carson, et al.
Published: (2026)

AI and Machine Learning Driven Indoor Localization and Navigation with Mobile Embedded Systems
by: Pasricha, Sudeep
Published: (2024)

HARMONIOUS -- Human-like reactive motion control and multimodal perception for humanoid robots
by: Rozlivek, Jakub, et al.
Published: (2023)

CRISP -- Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation
by: Pro, Daniel San José, et al.
Published: (2025)

Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
by: Indukumar, Gayatri, et al.
Published: (2026)

Nonlinear Model Predictive Control for Cooperative Transportation and Manipulation of Cable Suspended Payloads with Multiple Quadrotors
by: Li, Guanrui, et al.
Published: (2023)

Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation
by: Kumar, Abhinav, et al.
Published: (2025)

SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
by: Hsu, Cheng-Chun, et al.
Published: (2024)