1 citations · 1 across the 5 of their papers we have counts for
5 papers
Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC
Hien Bui, Yufeiyang Gao, Haoran Yang +6
Non-prehensile manipulation of diverse objects remains a core challenge in robotics, driven by unknown physical properties and the complexity of contact-rich interactions. Recent a…
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…
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…
Bipedal Walking on Constrained Footholds with MPC Footstep Control
Brian Acosta, Michael Posa
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse d…
Validating Robotics Simulators on Real-World Impacts
Brian Acosta, William Yang, Michael Posa
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning.…