Differentiable Environment Primitives for Contact State Estimation. - Kevin Haninger; Kangwagye Samuel; Filippo Rozzi; Sehoon Oh; Loris Roveda (CoRR, 2023)

Teaching contact-rich tasks from visual demonstrations by constraint extraction. - Christian Hegeler; Filippo Rozzi; Loris Roveda; Kevin Haninger (CoRR, 2023)

Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control. - Kevin Haninger; Kangwagye Samuel; Filippo Rozzi; Sehoon Oh; Loris Roveda (ICRA, 2024)

Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation. - Filippo Rozzi; Loris Roveda; Kevin Haninger (IROS, 2024)