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06/10/2023
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Complex dexterous manipulations require switching between prehensile and...
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03/23/2023
Covariance Steering for Uncertain Contact-rich Systems
Planning and control for uncertain contact systems is challenging as it ...
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03/15/2023
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with...
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01/17/2023
Tactile Tool Manipulation
Humans can effortlessly perform very complex, dexterous manipulation tas...
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07/18/2022
Recursive McCormick Linearization of Multilinear Programs
Linear programming (LP) relaxations are widely employed in exact solutio...
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06/06/2021
PYROBOCOP : Python-based Robotic Control Optimization Package for Manipulation and Collision Avoidance
PYROBOCOP is a lightweight Python-based package for control and optimiza...
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01/22/2020
Local Policy Optimization for Trajectory-Centric Reinforcement Learning
The goal of this paper is to present a method for simultaneous trajector...
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11/21/2019
JANOS: An Integrated Predictive and Prescriptive Modeling Framework
Business research practice is witnessing a surge in the integration of p...
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05/15/2019
Game Theoretic Optimization via Gradient-based Nikaido-Isoda Function
Computing Nash equilibrium (NE) of multi-player games has witnessed rene...
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06/28/2017
Submodular Function Maximization for Group Elevator Scheduling
We propose a novel approach for group elevator scheduling by formulating...
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05/30/2017
