# Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D

arXiv: https://arxiv.org/abs/2105.14431 · HTML: https://mlsanity.com/paper/2105.14431/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 May 2021.

## Built on by (most cited first, 15 of 15)

- [HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation](https://mlsanity.com/paper/2305.03942/) (2023)
- [Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity](https://mlsanity.com/paper/2211.01500/) (2022)
- [DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation](https://mlsanity.com/paper/2503.16806/) (2025)
- [Keypoint Abstraction using Large Models for Object-Relative Imitation Learning](https://mlsanity.com/paper/2410.23254/) (2024)
- [Learning Reusable Manipulation Strategies](https://mlsanity.com/paper/2311.03293/) (2023)
- [CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects](https://mlsanity.com/paper/2403.10760/) (2024)
- [Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation](https://mlsanity.com/paper/2408.01258/) (2024)
- [One-Shot Manipulation Strategy Learning by Making Contact Analogies](https://mlsanity.com/paper/2411.09627/) (2024)
- [Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation](https://mlsanity.com/paper/2410.00841/) (2024)
- [Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation](https://mlsanity.com/paper/2411.14913/) (2024)
- [Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning](https://mlsanity.com/paper/2603.09882/) (2026)
- [RAPID: Robot Agentic Programming from Demonstrations](https://mlsanity.com/paper/2609.30249/) (2026)
- [Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion](https://mlsanity.com/paper/2410.16571/) (2024)
- [Leveraging Extrinsic Dexterity for Occluded Grasping on Grasp Constraining Walls](https://mlsanity.com/paper/2507.14721/) (2025)
- [Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets](https://mlsanity.com/paper/2601.10827/) (2026)

## Abstract (arXiv)

This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous state transitions and discrete contact mode switches, without the need for pre-specified contact sequences or pre-designed motion primitives. The key idea is to use automatically enumerated contact modes of environment-object contacts to guide the tree expansions during the search. Contact modes automatically synthesize manipulation primitives, while the sampling-based planning framework sequences those primitives into a coherent plan. We test our algorithm on fourteen 3D manipulation tasks, and validate our models by executing some plans open-loop on a real robot-manipulator system