Bernhard Paus Graesdal — accepted AI-conference papers

2025

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization

Lujie Yang, H.j. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang +2

RSS 2025poster

We present a low-cost data generation pipeline that integrates physics-based simulation, human demonstrations, and model-based planning to efficiently generate large-scale, high-quality datasets for contact-rich robotic manipulation tasks. Starting with a small number of embodiment-flexible human de…

Cited by 3 PDF ↗Scholar ↗

2024

Towards Tight Convex Relaxations for Contact-Rich Manipulation

Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci, Savva Morozov, Alexandre Amice, Pablo Parrilo +1

RSS 2024poster

We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the motion-planning problem as a shortest-path problem in a grap…

Cited by 22 Source ↗PDF ↗code ↗Scholar ↗