Image de couverture de livre

Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS

Fuente: arXiv

Enregistré dans:

Détails bibliographiques
Auteurs principaux:	Wei, Zhongqi, Dümbgen, Frederike
Format:	Preprint
Publié:	2026
Sujets:	Robotics
Accès en ligne:	Acceder al recurso
Tags:	Ajouter un tag Pas de tags, Soyez le premier à ajouter un tag!

Documents similaires

Safe and Efficient Estimation for Robotics through the Optimal Use of Resources
par: Dümbgen, Frederike
Publié: (2024)

Sampling-Based Global Optimal Control and Estimation via Semidefinite Programming
par: Groudiev, Antoine, et autres
Publié: (2025)

A Data-driven Contact Estimation Method for Wheeled-Biped Robots
par: Gökbakan, Ü. Bora, et autres
Publié: (2024)

Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization
par: Dümbgen, Frederike, et autres
Publié: (2024)

Can Tabular Foundation Models Guide Exploration in Robot Policy Learning?
par: Ou, Buqing, et autres
Publié: (2026)

KSOS-BO: Improving Sampling in Bayesian Optimization via Kernel Sum of Squares
par: Ou, Buqing, et autres
Publié: (2026)

SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics
par: Holmes, Connor, et autres
Publié: (2024)

Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map
par: Barfoot, Timothy D, et autres
Publié: (2023)

Optimal Initialization Strategies for Range-Only Trajectory Estimation
par: Goudar, Abhishek, et autres
Publié: (2023)

Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
par: Dümbgen, Frederike, et autres
Publié: (2023)

Safe and Smooth: Certified Continuous-Time Range-Only Localization
par: Dümbgen, Frederike, et autres
Publié: (2022)

On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics
par: Holmes, Connor, et autres
Publié: (2023)

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
par: Yang, Lujie, et autres
Publié: (2025)

Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
par: Leve, Victor, et autres
Publié: (2024)

Exploiting Chordal Sparsity for Globally Optimal Estimation with Factor Graphs
par: Subramanian, Avinash, et autres
Publié: (2026)

Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
par: Zhang, Zhe, et autres
Publié: (2026)

Certified Gradient-Based Contact-Rich Manipulation via Smoothing-Error Reachable Tubes
par: Li, Wei-Chen, et autres
Publié: (2026)

Dexterous Contact-Rich Manipulation via the Contact Trust Region
par: Suh, H. J. Terry, et autres
Publié: (2025)

Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
par: Zhu, Huaijiang, et autres
Publié: (2024)

Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
par: Shirai, Yuki, et autres
Publié: (2025)

Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation
par: Brudermüller, Lara, et autres
Publié: (2025)

Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry
par: Zhang, Mengchao, et autres
Publié: (2024)

Data-Driven Batch Localization and SLAM Using Koopman Linearization
par: Guo, Zi Cong, et autres
Publié: (2023)

HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
par: Wei, Lai, et autres
Publié: (2025)

Recasting Classical Motion Planning for Contact-Rich Manipulation
par: Yang, Lin, et autres
Publié: (2025)

Soft and Compliant Contact-Rich Hair Manipulation and Care
par: Yoo, Uksang, et autres
Publié: (2025)

Towards Tight Convex Relaxations for Contact-Rich Manipulation
par: Graesdal, Bernhard Paus, et autres
Publié: (2024)

Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
par: Sathyanarayan, Hrishikesh, et autres
Publié: (2026)

Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations
par: Lakshmipathy, Arjun S., et autres
Publié: (2024)

Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
par: Geiger, Noah, et autres
Publié: (2025)

A Physically Consistent Stiffness Formulation for Contact-Rich Manipulation
par: Lachner, Johannes, et autres
Publié: (2025)

DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration
par: Shorinwa, Ola, et autres
Publié: (2024)

A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
par: Zhu, Xiang, et autres
Publié: (2022)

Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
par: Kang, Shucheng, et autres
Publié: (2025)

A Low-Cost Vision-Based Tactile Gripper with Pretraining Learning for Contact-Rich Manipulation
par: Liu, Yaohua, et autres
Publié: (2026)

Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
par: Chen, Yiting, et autres
Publié: (2025)

Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System
par: Gao, Yuyang, et autres
Publié: (2025)

Direction Matters: Learning Force Direction Enables Sim-to-Real Contact-Rich Manipulation
par: Yang, Yifei, et autres
Publié: (2026)

A Humanoid Visual-Tactile-Action Dataset for Contact-Rich Manipulation
par: Kwon, Eunju, et autres
Publié: (2025)

Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations
par: Zhou, Bo, et autres
Publié: (2024)