SCSP is a cascaded optimization framework using a surrogate contact model and discrete-continuous search to enable simultaneous contact selection and planning for robust contact-rich manipulation.
Complementarity-free multi-contact modeling and optimization for dexterous manipulation,
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
EaDex combines single-camera RGB-D capture, MANO retargeting, and dynamic demonstration annealing to achieve 55.3% relative improvement over baseline on nine cross-embodiment dexterous object-opening tasks across three hands.
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Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
SCSP is a cascaded optimization framework using a surrogate contact model and discrete-continuous search to enable simultaneous contact selection and planning for robust contact-rich manipulation.
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EaDex: A Cross-Embodiment Dexterous Manipulation Framework from Low-Cost Demonstrations
EaDex combines single-camera RGB-D capture, MANO retargeting, and dynamic demonstration annealing to achieve 55.3% relative improvement over baseline on nine cross-embodiment dexterous object-opening tasks across three hands.