3 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.RO2025
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…
cs.RO2025
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…