Alejandro M. Castro

20 papers A* 2A 1Journal 17
YearRankTypeTitle / Venue / Authors
2026 J jnl
A careful examination of large behavior models for multitask dexterous manipulation.
Sci. Robotics
Jose A. Barreiros, Andrew Beaulieu, Aditya Bhat, Rick Cory, Eric Cousineau, Hongkai Dai, Ching-Hsin Fang, Kunimatsu Hashimoto, Muhammad Zubair Irshad, Masha Itkina, Naveen Kuppuswamy, Kuan-Hui Lee, Katherine Liu, Dale McConachie, Ian McMahon, Haruki Nishimura, Calder Phillips-Grafflin, Charles Richter, Paarth Shah, Krishnan Srinivasan, Blake Wulfe, Chen Xu, Mengchao Zhang, Alex Alspach, Maya Angeles, Kushal Arora, Vitor Campagnolo Guizilini, Alejandro M. Castro, Dian Chen, Ting-Sheng Chu, Sam Creasey, Sean Curtis, Richard Denitto, Emma Dixon, Eric Dusel, Matthew Ferreira, Aimee Goncalves, Grant Gould, Damrong Guoy, Swati Gupta, Xuchen Han, Kyle Hatch, Brendan Hathaway, Allison Henry, Hillel Hochsztein, Phoebe Horgan, Shun Iwase, Donovon Jackson, Siddharth Karamcheti, Sedrick Keh, Joseph Masterjohn, Masayuki Masuda, Jean Mercat, Patrick Tree Miller, Paul Mitiguy, Tony Nguyen, Jeremy Nimmer, Yuki Noguchi, Reko Ong, Aykut Özgün Önol, Owen Pfannenstiehl, Richard Poyner, Leticia Priebe Rocha, Gordon Richardson, Christopher Rodriguez, Derick Seale, Michael A. Sherman, Mariah Smith-Jones, David Tago, Pavel Tokmakov, Matthew Tran, Basile Van Hoorick, Igor Vasiljevic, Sergey Zakharov, Mark Zolotas, Rares Ambrus, Kerri Fetzer-Borelli, Benjamin Burchfiel, Hadas Kress-Gazit, Siyuan Feng, Stacie Ford, Russ Tedrake
2026 J jnl
MPM Lite: Linear Kernels and Integration without Particles.
CoRR
Xiang Feng, Yunuo Chen, Chang Yu, Hao Su, Demetri Terzopoulos, Yin Yang, Joseph Masterjohn, Alejandro M. Castro, Chenfanfu Jiang
2025 A conf
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation.
IROS
Chang Yu, Wenxin Du, Zeshun Zong, Alejandro M. Castro, Chenfanfu Jiang, Xuchen Han
2025 J jnl
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation.
CoRR
Chang Yu, Wenxin Du, Zeshun Zong, Alejandro M. Castro, Chenfanfu Jiang, Xuchen Han
2025 A* conf
Embedded IPC: Fast and Intersection-Free Simulation in Reduced Subspace for Robot Manipulation.
ICRA
Wenxin Du, Chang Yu, Siyu Ma, Ying Jiang, Zeshun Zong, Yin Yang, Joseph Masterjohn, Alejandro M. Castro, Xuchen Han, Chenfanfu Jiang
2025 J jnl
Irrotational Contact Fields.
IEEE Trans. Robotics
Alejandro M. Castro, Xuchen Han, Joseph Masterjohn
2025 A* conf
Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation.
ICRA
Jessica Yin, Paarth Shah, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Alejandro M. Castro, James H. Pikul, Russ Tedrake
2025 J jnl
Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal.
CoRR
Chang Yu, Siyu Ma, Wenxin Du, Zeshun Zong, Han Xue, Wendi Chen, Cewu Lu, Yin Yang, Xuchen Han, Joseph Masterjohn, Alejandro M. Castro, Chenfanfu Jiang
2024 J jnl
Embedded IPC: Fast and Intersection-free Simulation in Reduced Subspace for Robot Manipulation.
CoRR
Wenxin Du, Chang Yu, Siyu Ma, Ying Jiang, Zeshun Zong, Yin Yang, Joseph Masterjohn, Alejandro M. Castro, Xuchen Han, Chenfanfu Jiang
2023 J jnl
A Convex Formulation of Frictional Contact Between Rigid and Deformable Bodies.
IEEE Robotics Autom. Lett.
Xuchen Han, Joseph Masterjohn, Alejandro M. Castro
2023 J jnl
A Convex Formulation of Frictional Contact between Rigid and Deformable Bodies.
CoRR
Xuchen Han, Joseph Masterjohn, Alejandro M. Castro
2023 J jnl
A Theory of Irrotational Contact Fields.
CoRR
Alejandro M. Castro, Xuchen Han, Joseph Masterjohn
2023 J jnl
An Unconstrained Convex Formulation of Compliant Contact.
IEEE Trans. Robotics
Alejandro M. Castro, Frank Permenter, Xuchen Han
2023 J jnl
Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation.
CoRR
Jessica Yin, Paarth Shah, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Alejandro M. Castro, James H. Pikul, Russ Tedrake
2022 J jnl
Velocity Level Approximation of Pressure Field Contact Patches.
IEEE Robotics Autom. Lett.
Joseph Masterjohn, Damrong Guoy, John Shepherd, Alejandro M. Castro
2021 J jnl
An Unconstrained Convex Formulation of Compliant Contact.
CoRR
Alejandro M. Castro, Frank Permenter, Xuchen Han
2021 J jnl
Discrete Approximation of Pressure Field Contact Patches.
CoRR
Joseph Masterjohn, Damrong Guoy, John Shepherd, Alejandro M. Castro
2020 J jnl
A Transition-Aware Method for the Simulation of Compliant Contact With Regularized Friction.
IEEE Robotics Autom. Lett.
Alejandro M. Castro, Ante Qu, Naveen Kuppuswamy, Alex Alspach, Michael Sherman
2020 J jnl
Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors.
IEEE Robotics Autom. Lett.
Naveen Kuppuswamy, Alejandro M. Castro, Calder Phillips-Grafflin, Alex Alspach, Russ Tedrake
2019 J jnl
A Transition-Aware Method for the Simulation of Compliant Contact with Regularized Friction.
CoRR
Alejandro M. Castro, Ante Qu, Naveen Kuppuswamy, Alex Alspach, Michael Sherman