254 citations · 267 across the 18 of their papers we have counts for
7 papers · 1 filter
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…
ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction
Tim Engelbracht, René Zurbrügg, Mayank Mittal +4
Manipulating objects requires understanding not only their motion, but also the physical properties that determine it. For articulated objects, these include inertia, friction, and…
Contact-Guided Exploration for Non-Prehensile Locomanipulation with Multi-Critic RL
Simone Tolomei, Mayank Mittal, Franco Angelini +3
Non-prehensile manipulation offers versatile skills for moving and rearranging heavy or bulky objects, particularly when combined with a mobile manipulation platform. However, both…
Advances, challenges, and opportunities for legged robots
Jonas Frey, Matías Mattamala, Hae-Won Park +5
Humanoid and quadrupedal robots have the potential to revolutionize the way we work, interact, and coexist with intelligent machines. To understand their effects on society and how…
TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer
Arunim Joarder, Arjun Bhardwaj, René Zurbrügg +6
Tactile sensing provides direct measurements of contact interactions that are essential for robotic manipulation. However, current simulators lack the fidelity to faithfully model…
ViserDex: Visual Sim-to-Real for Robust Dexterous In-hand Reorientation
Arjun Bhardwaj, Maximum Wilder-Smith, Mayank Mittal +2
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing…
DeFM: Learning Foundation Representations from Depth for Robotics
Manthan Patel, Jonas Frey, Mayank Mittal +5
Depth sensors are widely deployed across robotic platforms, and advances in fast, high-fidelity depth simulation have enabled robotic policies trained on depth observations to achi…