Sergio Aguilera Marinovic — accepted AI-conference papers

2025

Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation

Abhinav Kumar, Thomas Power, Fan Yang, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin +1

ICRA 2025

Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods have shown promise, but are sensitive to the quality of training data. Combining learning with classical methods like t

Cited by 5 Source ↗Scholar ↗

2025

Multi-Finger Manipulation via Trajectory Optimization With Differentiable Rolling and Geometric Constraints

Fan Yang, Thomas Power, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson

RA-L 2025

Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified geometries of the robot and object or do not explicitly model fi

Cited by 10 Source ↗Scholar ↗