Papers
BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
Huayi Wang, Zirui Wang, Junli Ren et al.
A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
Yufei Xue, Wentao Dong, Minghuan Liu et al.
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Tairan He, Jiawei Gao, Wenli Xiao et al.
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
Yiyang Shao, Bike Zhang, Qiayuan Liao et al.
Learning Humanoid Standing-up Control across Diverse Postures
Tao Huang, Junli Ren, Huayi Wang et al.
Learning Getting-Up Policies for Real-World Humanoid Robots
Xialin He, Runpei Dong, Zixuan Chen et al.
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot
Yufeng Chi, Qiayuan Liao, Junfeng Long et al.
AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
Jialong Li, Xuxin Cheng, Tianshu Huang et al.
Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
Yiting Chen, Kenneth Kimble, Howard H. Qian et al.
Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly
Daniel Sliwowski, Shail Jadav, Sergej Stanovcic et al.
Demonstrating the Octopi-1.5 Visual-Tactile-Language Model
Samson Yu, Lin Kelvin, Harold Soh
GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty
Sirui Chen, Sergio Francisco Aguilera Marinovic, Soshi Iba et al.
PP-Tac: Paper Picking Using Omnidirectional Tactile Feedback in Dexterous Robotic Hands
Pei Lin, Yuzhe Huang, Jianpeng Ma et al.
A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation
Jaehyung Kim, Jiho Kim, Dongryung Lee et al.
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Lujie Yang, H.j. Terry Suh, Tong Zhao et al.
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
Han Xue, Jieji Ren, Wendi Chen et al.
Flow Matching Ergodic Coverage
Max Muchen Sun, Allison Pinosky, Todd Murphey
Differentiable GPU-Parallelized Task and Motion Planning
William Shen, Caelan Reed Garrett, Nishanth Kumar et al.
Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids
Victor Reijgwart, Cesar Cadena, Roland Siegwart et al.
Effective Sampling for Robot Motion Planning Through the Lens of Lattices
Itai Panasoff, Kiril Solovey
On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
Yulin Li, Haoyu Han, Shucheng Kang et al.
Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
Shucheng Kang, Guorui Liu, Heng Yang
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
Peter Werner, Richard Cheng, Tom Stewart et al.
A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex Sets
Tobia Marcucci, Mathew Halm, William Yang et al.