A certified gradient-based method for contact-rich manipulation that quantifies smoothing-induced errors via set-valued discrepancies and incorporates them into analytical reachable sets for robust affine feedback policies.
Single-level differentiable contact simulation.IEEE Robotics and Automation Letters, 8(7):4012–4019, 2023
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Certified Gradient-Based Contact-Rich Manipulation via Smoothing-Error Reachable Tubes
A certified gradient-based method for contact-rich manipulation that quantifies smoothing-induced errors via set-valued discrepancies and incorporates them into analytical reachable sets for robust affine feedback policies.