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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

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Yi-Ming Bao

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Preprint Nov 2026

GRASP: Gradient-Guided Sampling for Contact-Rich Physics-Based Motion Retargeting

We study physics-based retargeting of human demonstrations for robot learning: finding robot controls that reproduce reference motions under contact dynamics. We propose GRASP (Gradient Recovery from Archived Samples for Proposals), which combines sampling-based exploration with gradient-guided refinement without requi...

Yang Liu, Tong Wang, Yi-Ming Bao et al. · 1 citation

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