Plan-Guided Reinforcement Learning for Whole-Body Manipulation
Published in Workshop on Leveraging Models for Contact-Rich Manipulation at IROS 2023, 2023
Publications
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Published in Robotics: Science and Systems (RSS), 2023
Non-Penetration Iterative Closest Points for Single-View Multi-Object 6D Pose Estimation
Published in IEEE International Conference on Robotics and Automation (ICRA), 2022
Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact
Published in IEEE International Conference on Robotics and Automation (ICRA), 2021
Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrain
Published in IEEE International Conference on Robotics and Automation (ICRA), 2021
