5 papers · 1 filter
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control
Oleg Kaidanov, Firas Al-Hafez, Yusuf Suvari +2
Humanoids have the potential to be the ideal embodiment in environments designed for humans. Thanks to the structural similarity to the human body, they benefit from rich sources o…
Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis
Erik Helmut, Luca Dziarski, Niklas Funk +2
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body def…
Velocity-History-Based Soft Actor-Critic Tackling IROS'24 Competition "AI Olympics with RealAIGym"
Tim Lukas Faust, Habib Maraqten, Erfan Aghadavoodi +2
The ``AI Olympics with RealAIGym'' competition challenges participants to stabilize chaotic underactuated dynamical systems with advanced control algorithms. In this paper, we pres…
MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench
Moritz Meser, Aditya Bhatt, Boris Belousov +1
We tackle the recently introduced benchmark for whole-body humanoid control HumanoidBench using MuJoCo MPC. We find that sparse reward functions of HumanoidBench yield undesirable…
What Matters for Active Texture Recognition With Vision-Based Tactile Sensors
Alina Böhm, Tim Schneider, Boris Belousov +6
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active samplin…