A Transition-Aware Method for the Simulation of Compliant Contact With Regularized Friction. - Alejandro M. Castro; Ante Qu; Naveen Kuppuswamy; Alex Alspach; Michael Sherman 001 (IEEE Robotics Autom. Lett., 2020)

Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors. - Naveen Kuppuswamy; Alejandro M. Castro; Calder Phillips-Grafflin; Alex Alspach; Russ Tedrake (IEEE Robotics Autom. Lett., 2020)

Discrete Approximation of Pressure Field Contact Patches. - Joseph Masterjohn; Damrong Guoy; John Shepherd 003; Alejandro M. Castro (CoRR, 2021)

Velocity Level Approximation of Pressure Field Contact Patches. - Joseph Masterjohn; Damrong Guoy; John Shepherd 003; Alejandro M. Castro (IEEE Robotics Autom. Lett., 2022)

Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation. - Jessica Yin; Paarth Shah; Naveen Kuppuswamy; Andrew Beaulieu; Avinash Uttamchandani; Alejandro M. Castro; James H. Pikul; Russ Tedrake (CoRR, 2023)

A Theory of Irrotational Contact Fields. - Alejandro M. Castro; Xuchen Han; Joseph Masterjohn (CoRR, 2023)

An Unconstrained Convex Formulation of Compliant Contact. - Alejandro M. Castro; Frank Permenter; Xuchen Han (IEEE Trans. Robotics, 2023)

A Convex Formulation of Frictional Contact Between Rigid and Deformable Bodies. - Xuchen Han; Joseph Masterjohn; Alejandro M. Castro (IEEE Robotics Autom. Lett., 2023)

Embedded IPC: Fast and Intersection-free Simulation in Reduced Subspace for Robot Manipulation. - Wenxin Du; Chang Yu 005; Siyu Ma; Ying Jiang; Zeshun Zong; Yin Yang 002; Joseph Masterjohn; Alejandro M. Castro; Xuchen Han; Chenfanfu Jiang (CoRR, 2024)

A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation. - Chang Yu 005; Wenxin Du; Zeshun Zong; Alejandro M. Castro; Chenfanfu Jiang; Xuchen Han (CoRR, 2025)

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation. - TRI LBM Team; Jose Barreiros; Andrew Beaulieu; Aditya Bhat; Rick Cory; Eric Cousineau; Hongkai Dai; Ching-Hsin Fang; Kunimatsu Hashimoto; Muhammad Zubair Irshad; Masha Itkina; Naveen Kuppuswamy; et al. (CoRR, 2025)