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  • Copy of Motion Planning around Obstacles with Graphs of Convex Sets

    Columbia Mechanical Engineering Seminar

  • RLG Short Talk - Fall 2024

  • Template

  • RSS2024: Towards Tight Convex Relaxations for Contact-Rich Manipulation

  • Copy of Spring 2024 Long Talk

  • ONR Presentation: Towards Tight Convex Relaxations for Contact-Rich Manipulation

  • Amazon presentation: Towards Tight Convex Relaxations for Contact-Rich Manipulation

  • Planning Through Contact without Mode Enumeration

  • Copy of Motion Planning for Planar Pushing with Convex Optimization

  • Motion Planning for Planar Pushing with Convex Optimization

  • Solving SPP in GCS with Distributed Algorithms

  • ADMM and GCS

  • Amazon Motion Planning Presentation

  • Planning Through Contact with Graphs of Convex Sets and Semidefinite Relaxations

  • Copy of Motion Planning around Obstacles with Graphs of Convex Sets

    Columbia Mechanical Engineering Seminar

  • Optimization-based Planning Through Contact with Tight Convex Relaxations 

  • Controller Synthesis for Maximization of the Backwards Reachable Set using Occupation Measures and LMI Relaxations

  • Motion Planning for Planar Pushing using GCS

  • Planning Through Contact Using Trajectory Optimization and GCS