IEEE 2023 IROS Workshop CRM Submissions

Long-Horizon Torque-Limited Planning through Contact using Discrete Search and Continuous Optimization
Ramkumar Natarajan, Garrison L Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Plan-Guided Reinforcement Learning for Whole-Body Manipulation
Mengchao Zhang, Jose Barreiros, Aykut Ozgun Onol
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Sampling-Based Model Predictive Control for Contact-Rich Manipulation
Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu, Michael Posa
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Instance-Agnostic Geometry and Contact Dynamics Learning
Mengti Sun, Bowen Jiang, Bibit Bianchini, Camillo Taylor, Michael Posa
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
General In-Hand Object Rotation with Vision and Touch
Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma, Roberto Calandra, Jitendra Malik
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Online Implicit Surfaces for Obstacle Modeling and Avoidance
Abhinav Kumar, Dmitry Berenson
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Contact-Aware Non-prehensile Manipulation for Object Retrieval in Cluttered Environments
Yongpeng Jiang, Yongyi Jia, Xiang Li
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Manipulation Among Movable Objects for Pick-and-Place Tasks in 3D Workspaces
Dhruv Saxena, Maxim Likhachev
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Elementary Dynamic Actions: key structures for contact-rich manipulation
Johannes Lachner, Moses C. Nah, Federico Tessari, Neville Hogan
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Leveraging Dynamic Modeling of Cart-like Nonholonomic Systems to Improve Contact Point’s Location and Control
Sergio Aguilera Marinovic, Seth Hutchinson
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
More Accurate Tactile Sensor Simulation with Hydroelastic Contacts in MuJoCo
David Leins, Florian Patzelt, Robert Haschke
- Published: 19 Sept 2023, Last Modified: 02 Oct 2023
- IROS 2023 CRM
- Readers: Everyone
Increasing the Holding Force of Non-Rigid Materials Through Robot End-Effector Reorientation
Roman Mykhailyshyn, Ann Majewicz, Jing Xiao
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Capturing the Hybrid Dynamics of Planar Pushing in RL with Multimodal Categorical Exploration
Juan Del Aguila Ferrandis, Joao Moura, Sethu Vijayakumar
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Data-driven Grasping and Pre-grasp Manipulation Using Hierarchical Reinforcement Learning with Parameterized Action Primitives
Shih-Min Yang, Martin Magnusson, Johannes Andreas Stork, Todor Stoyanov
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Learning Reusable Manipulation Strategies
Jiayuan Mao, Joshua Tenenbaum, Tomás Lozano-Pérez, Leslie Kaelbling
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Contact-Aware Covariance Control of Stochastic Contact-Rich Systems
Yuki Shirai, Devesh Jha, Arvind Raghunathan
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Convex Quasi-Dynamic Simulation of Rigid Point Clouds with Torsional Friction
Kevin Tracy, Zachary Manchester
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Model-predictive control for non-prehensile tray-based object transportation
Mario Selvaggio, Fabio Ruggiero, Bruno Siciliano
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone
Learning Plan-Satisficing Motion Policies from Demonstrations
Yanwei Wang
- Published: 19 Sept 2023, Last Modified: 28 Sept 2023
- IROS 2023 CRM
- Readers: Everyone