24 citations · 77 across the 11 of their papers we have counts for
19 papers
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields
Arunkumar Byravan, Jan Humplik, Leonard Hasenclever +8
We present a system for applying sim2real approaches to "in the wild" scenes with realistic visuals, and to policies which rely on active perception using RGB cameras. Given a shor…
Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes
Alex X. Lee, Coline Devin, Yuxiang Zhou +18
We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategie…
iCub
Lorenzo Natale, Chiara Bartolozzi, Francesco Nori +2
In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and…
A Plenum-Based Calibration Device for Tactile Sensor Arrays
Joan Kangro, Anand Vazhapilli Sureshbabu, Silvio Traversaro +2
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent…
"What, not how": Solving an under-actuated insertion task from scratch
Giulia Vezzani, Michael Neunert, Markus Wulfmeier +7
Robot manipulation requires a complex set of skills that need to be carefully combined and coordinated to solve a task. Yet, most ReinforcementLearning (RL) approaches in robotics…
Learning Dexterous Manipulation from Suboptimal Experts
Rae Jeong, Jost Tobias Springenberg, Jackie Kay +5
Learning dexterous manipulation in high-dimensional state-action spaces is an important open challenge with exploration presenting a major bottleneck. Although in many cases the le…