2 papers
cs.RO2026
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.RO2026
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…