Mandy Xie
Papers
6
Total Citations
67
H-Index
4
About
Mandy Xie is a roboticist whose research lies at the intersection of geometric mechanics, motion planning, and dexterous manipulation. Her most influential work introduces **geometric fabrics**—a framework that generalizes classical mechanics to design robot behaviors with inherent physical intuition, capturing components like obstacle avoidance and joint limit management in a unified, acceleration-based system. This foundational paper has garnered **29 citations** and reshaped how researchers think about behavioral design in robotics. Xie has also pioneered the use of **factor graphs** for dynamics problems, offering a unified method to solve inverse, forward, and hybrid manipulator dynamics while enabling kinodynamic motion planning that accounts for full robot dynamics and contacts—work that has earned **14 citations** per paper. Her recent exploration of **Koopman operator theory** for learning dexterous manipulation skills addresses practical barriers in robotics, aiming for computationally efficient and interpretable behaviors. Through these contributions, Xie has established herself as a key figure in advancing both the theoretical foundations and practical tools for robotic motion and manipulation.
Research Focus
Key Achievements
Top Papers
- 1
- 2Geometric Fabrics for the Acceleration-based Design of Robotic Motion14 citations · 2020
- 3A Factor-Graph Approach for Optimization Problems with Dynamics Constraints14 citations · 2020
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