Digital Library of Zielona Góra contains 67 670 digital objects
Object
Title: Contact models in robotic grasp learning
Contributor:
Okarma, Krzysztof - ed. ; Skrzypczyński, Piotr - ed. ; Stefanowski, Jerzy - ed.
Subtitle:
Group publication title:
Abstract:
Autonomous robotic manipulation faces persistent challenges in dynamic, unstructured environments, where traditional physics-based models struggle with incomplete or inaccurate object and contact data. Machine learning has enabled adaptive manipulation skills, but purely end-to-end approaches often make contact-level reasoning implicit and rely on extensive training data. ; Structured methods that incorporate segmentation, depth, and planning offer complementary, more interpretable alternatives. Contact modelling plays a central role in predicting object motion and enabling realistic simulations, especially at close-range interactions. Early forward models demonstrated generalization to unseen objects, but struggled with action generation and exemplar dependence. ; Later advances introduced generative contact models that infer grasps directly from depth images, enabling one-shot learning and robust manipulation without prior object knowledge. This paper reviews and compares such contact modelling approaches, highlighting their role in grasp synthesis, generalization, and integration into dynamic and perception-driven manipulation pipelines.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 36, number 3 (2026)
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2026)
Last modified:
Nov 6, 2026
In our library since:
Nov 6, 2026
Number of object content hits:
0
All available object's versions:
https://zbc.uz.zgora.pl/publication/115175
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 36, number 1 (2026)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 36, number 2 (2026)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 36, number 3 (2026)
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| Edition name | Date |
|---|---|
| Contact models in robotic grasp learning | Nov 6, 2026 |
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