Planning robot dexterity is challenging due to the non-smoothness introduced by contacts,
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …

We present a system for non-prehensile manipulation that require a significant number of
contact mode transitions and the use of environmental contacts to successfully manipulate …

Kinodynamic motion planners allow robots to perform complex manipulation tasks under
dynamics constraints or with black-box models. However, they struggle to find high-quality …

Manipulating objects without grasping them is an essential component of human dexterity,
referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more …

Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or
otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in …

In this work, we build on our method for manipulating unknown objects via contact
configuration regulation: the estimation and control of the location, geometry, and mode of …

Dexterous robotic manipulation remains a challenging domain due to its strict demands for
precision and robustness on both hardware and software. While dexterous robotic hands …

Robotic manipulation relies on analytical or learned models to simulate the system
dynamics. These models are often inaccurate and based on offline information, so that the …