28 citations · 57 across the 28 of their papers we have counts for
31 papers
Active Tactile Exploration for Rigid Body Pose and Shape Estimation
Ethan K. Gordon, Bruke Baraki, Hien Bui +1
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency…
Learning a Vision-Based Footstep Planner for Hierarchical Walking Control
Minku Kim, Brian Acosta, Pratik Chaudhari +1
Bipedal robots demonstrate potential in navigating challenging terrains through dynamic ground contact. However, current frameworks often depend solely on proprioception or use man…
Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu +2
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimiz…
Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
Brian Acosta, Michael Posa
Traversing rough terrain requires dynamic bipeds to stabilize themselves through foot placement without stepping in unsafe areas. Planning these footsteps online is challenging giv…
Dynamic On-Palm Manipulation via Controlled Sliding
William Yang, Michael Posa
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force c…
Simultaneous Learning of Contact and Continuous Dynamics
Bibit Bianchini, Mathew Halm, Michael Posa
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they…