3 papers
cs.RO2026
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…
cs.RO2025
Towards Learning Boulder Excavation with Hydraulic Excavators
Jonas Gruetter, Lorenzo Terenzi, Pascal Egli +1
Construction sites frequently require removing large rocks before excavation or grading can proceed. Human operators typically extract these boulders using only standard digging bu…
cs.RO2025
ExT: Towards Scalable Autonomous Excavation via Large-Scale Multi-Task Pretraining and Fine-Tuning
Yifan Zhai, Lorenzo Terenzi, Patrick Frey +3
Scaling up the deployment of autonomous excavators is of great economic and societal importance. Yet it remains a challenging problem, as effective systems must robustly handle uns…