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Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between…
This document presents novel datasets, constructed by employing the iCub robot equipped with an additional depth sensor and color camera. We used the robot to acquire color and depth information for 210 objects in different acquisition…
Quadrupedal robots are skillful at locomotion tasks while lacking manipulation skills, not to mention dexterous manipulation abilities. Inspired by the animal behavior and the duality between multi-legged locomotion and multi-fingered…
This paper contributes the Aerial Gym Simulator, a highly parallelized, modular framework for simulation and rendering of arbitrary multirotor platforms based on NVIDIA Isaac Gym. Aerial Gym supports the simulation of under-, fully- and…
Multi-fingered robotic hands have potential to enable robots to perform sophisticated manipulation tasks. However, teaching a robot to grasp objects with an anthropomorphic hand is an arduous problem due to the high dimensionality of state…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that can be challenging to infer using vision alone. Multimodal…
This paper presents an anthropomorphic robotic bear for the exploration of human-robot interaction including verbal and non-verbal communications. This robot is implemented with a hybrid face composed of a mechanical faceplate with 10 DOFs…
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, the BiConMP which can generate whole body trajectories online…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…
MimicKit is an open-source framework for training motion controllers using motion imitation and reinforcement learning. The codebase provides implementations of commonly-used motion-imitation techniques and RL algorithms. This framework is…
Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability…
When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…
Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, which limits their versatility. In this work, we present…
We introduce AnyUser, a unified robotic instruction system for intuitive domestic task instruction via free-form sketches on camera images, optionally with language. AnyUser interprets multimodal inputs (sketch, vision, language) as…
As the availability of cobots increases, it is essential to address the needs of users with little to no programming knowledge to operate such systems efficiently. Programming concepts often use intuitive interaction modalities, such as…
Scalable learning of humanoid robots is crucial for their deployment in real-world applications. While traditional approaches primarily rely on reinforcement learning or teleoperation to achieve whole-body control, they are often limited by…