20 citations · 30 across the 16 of their papers we have counts for
8 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…
Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
Efe Ongan, Chong Zhang, Boyang Sun +3
Traversing sparse 3D structures requires humanoid robots to perceive thin, overhanging geometry while executing agile, accurate whole-body motions. We study this problem through mo…
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…
Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing
Jiale Fan, Connor Flynn, Tianao Xu +4
Learning-based control has revolutionized dynamic locomotion, yet navigating unstructured terrain remains limited by a robot's incomplete awareness of imminent ground contact. Whil…
Learning Multi-Agent Local Collision-Avoidance for Collaborative Carrying tasks with Coupled Quadrupedal Robots
Francesca Bray, Simone Tolomei, Andrei Cramariuc +2
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple rob…
Beyond Cybathlon: On-demand Quadrupedal Assistance for People with Limited Mobility
Carmen Scheidemann, Andrei Cramariuc, Changan Chen +2
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of…
One-Shot Badminton Shuttle Detection for Mobile Robots
Florentin Dipner, William Talbot, Turcan Tuna +2
This paper presents a robust one-shot badminton shuttlecock detection framework for non-stationary robots. To address the lack of egocentric shuttlecock detection datasets, we intr…
DexEvolve: Evolutionary Optimization for Robust and Diverse Dexterous Grasp Synthesis
René Zurbrügg, Andrei Cramariuc, Marco Hutter
Dexterous grasping is fundamental to robotics, yet data-driven grasp prediction heavily relies on large, diverse datasets that are costly to generate and typically limited to a nar…