4 papers · 1 filter
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…
Active Tactile Exploration for Rigid Body Pose and Shape Estimation
Ethan K. Gordon, Bruke Baraki, Hien Bui +1
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency…
Reinforcement Learning for Reduced-order Models of Legged Robots
Yu-Ming Chen, Hien Bui, Michael Posa
Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accom…
Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning
Hien Bui, Michael Posa
In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts have attempted to ad…