209 citations · 640 across the 25 of their papers we have counts for
35 papers
Solving a Giant Rubik's Cube with a Quadruped Robot
Lukas Amiet, Gabriel Sánchez-Blanco Repgen, Mayank Mittal +4
Pedipulating a freestanding articulated object requires controlling its pose and internal configuration while maintaining balance. We demonstrate this capability by autonomously so…
Continual Learning for 6-DoF Grasp Synthesis via Experience and Demonstrations
Giulio Schiavi, Andrei Cramariuc, Michael Pantic +1
Most current grasp synthesis systems are trained offline and remain fixed during deployment. While this works well when deployment conditions resemble the training data, performanc…
Size Doesn't Matter: Material-State Reinforcement Learning for Excavator Transferable Soil Manipulation
Lennart Werner, Pol Eyschen, Sean Costello +3
Earthmoving tasks such as excavation, backfilling, or embankment construction require deliberate repositioning of deformable soil. For these tasks, human operators use all shovel f…
Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
Efe Ongan, Chong Zhang, Boyang Sun +3
Traversing sparse 3D structures requires humanoid robots to perceive thin, overhanging geometry while executing agile, accurate whole-body motions. We study this problem through mo…
Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing
Jiale Fan, Connor Flynn, Tianao Xu +4
Learning-based control has revolutionized dynamic locomotion, yet navigating unstructured terrain remains limited by a robot's incomplete awareness of imminent ground contact. Whil…
High Precision Hydraulic Excavator Control for Heavy-Duty Grading
Lennart Werner, Pol Eyschen, Sean Costello +2
High-precision heavy-duty grading is a common step in earthworks, traditionally carried out manually by skilled operators. Removing a significant amount of material while achieving…