3 papers
cs.RO2026
Tabletop Pen Manipulation With a Vision-Guided 4-DoF Arm
Anirudh Rangarajan, Bibit Bianchini
Low-cost four-degree-of-freedom (DoF) arms are among the most accessible robotic platforms. But they are, in theory, underactuated for picking up in situations where objects are at…
cs.RO2025
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…
cs.RO2025
Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics
Bibit Bianchini, Minghan Zhu, Mengti Sun +3
We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the r…