Stocs: Simultaneous trajectory optimization and contact selection for contact-rich manipulation

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[PDF][PDF] Tactile pose feedback for closed-loop manipulation tasks‏

K Ota, S Jain, M Zhang, DK Jha - Robotics: Science and Systems …, 2023‏ - merl.com‏
Current generation manipulation systems operate in an open-loop fashion resulting in poor
performance in the presence of disturbances. Robust manipulation requires a robot to …‏
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