Sharanya Venkatesh — accepted AI-conference papers

2026

Approximating Global Contact-Implicit MPC Via Sampling and Local Complementarity

Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu, William Yang, Michael Posa

ICRA 2026poster

To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible contact sequences. Instead, recent progress in contact-implicit…

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2025

Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity

Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu, William Yang, Michael Posa

RA-L 2025

To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers cannot globally optimize in real time over the exponential number of possible contact sequences. Instead, progress in contact-implicit control leverages

Cited by 3 Source ↗code ↗Scholar ↗