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cs.RO2026
RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment
Humphrey Munn, Brendan Tidd, Peter Bohm +2
Deploying learned control policies is risky because policies that appear robust in simulation can confidently enter out-of-distribution (OOD) states after Sim-to-Real transfer, cau…
cs.RO2026
SimTO: A two-stage, simulation-driven topology optimization framework for bespoke soft robotic grippers
Kurt Enkera, Josh Pinskier, Marcus Gallagher +1
Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing designs struggle to grasp f…