2025
Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
RSS 2025poster
We show that contact-rich motion planning is also
3 accepted papers
We show that contact-rich motion planning is also
Contact-implicit motion planning—embedding contact sequencing as implicit complementarity constraints—holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization, being an instance of Mathematical Programming with Compleme…
Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL policy is imperfect during training or in unseen scenarios. In t…