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06/20/2023
RoboCat: A Self-Improving Foundation Agent for Robotic Manipulation
The ability to leverage heterogeneous robotic experience from different ...
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05/24/2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Animals have evolved various agile locomotion strategies, such as sprint...
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04/26/2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
We investigate whether Deep Reinforcement Learning (Deep RL) is able to ...
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10/10/2022
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields
We present a system for applying sim2real approaches to "in the wild" sc...
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10/12/2021
Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes
We study the problem of robotic stacking with objects of complex geometr...
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05/05/2021
iCub
In this chapter we describe the history and evolution of the iCub humano...
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03/23/2021
A Plenum-Based Calibration Device for Tactile Sensor Arrays
In modern robotic applications, tactile sensor arrays (i.e., artificial ...
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10/29/2020
"What, not how": Solving an under-actuated insertion task from scratch
Robot manipulation requires a complex set of skills that need to be care...
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10/16/2020
Learning Dexterous Manipulation from Suboptimal Experts
Learning dexterous manipulation in high-dimensional state-action spaces ...
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10/21/2019
Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer
Learning robotic control policies in the real world gives rise to challe...
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10/21/2019
Self-Supervised Sim-to-Real Adaptation for Visual Robotic Manipulation
Collecting and automatically obtaining reward signals from real robotic ...
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02/13/2019
Simultaneously Learning Vision and Feature-based Control Policies for Real-world Ball-in-a-Cup
We present a method for fast training of vision based control policies o...
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12/03/2018
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
It is well known that sensors using strain gauges have a potential depen...
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08/05/2018
Momentum-Based Topology Estimation of Articulated Objects
Articulated objects like doors, drawers, valves, and tools are pervasive...
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07/14/2018
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
A common approach to the generation of walking patterns for humanoid rob...
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01/18/2016