6 papers
Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis
Erik Helmut, Luca Dziarski, Niklas Funk +2
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body def…
In-Hand Object Pose Estimation via Visual-Tactile Fusion
Felix NonnengieÃer, Alap Kshirsagar, Boris Belousov +1
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an appr…
Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition
Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera +17
In the field of robotics many different approaches ranging from classical planning over optimal control to reinforcement learning (RL) are developed and borrowed from other fields…
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control
Oleg Kaidanov, Firas Al-Hafez, Yusuf Suvari +2
Humanoids have the potential to be the ideal embodiment in environments designed for humans. Thanks to the structural similarity to the human body, they benefit from rich sources o…
Velocity-History-Based Soft Actor-Critic Tackling IROS'24 Competition "AI Olympics with RealAIGym"
Tim Lukas Faust, Habib Maraqten, Erfan Aghadavoodi +2
The ``AI Olympics with RealAIGym'' competition challenges participants to stabilize chaotic underactuated dynamical systems with advanced control algorithms. In this paper, we pres…
MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench
Moritz Meser, Aditya Bhatt, Boris Belousov +1
We tackle the recently introduced benchmark for whole-body humanoid control HumanoidBench using MuJoCo MPC. We find that sparse reward functions of HumanoidBench yield undesirable…