On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward
The last five years marked a surge in interest for and use of smart robots, which operate in
dynamic and unstructured environments and might interact with humans. We posit that well …
dynamic and unstructured environments and might interact with humans. We posit that well …
Optimization-based control for dynamic legged robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
Making sense of vision and touch: Self-supervised learning of multimodal representations for contact-rich tasks
Contact-rich manipulation tasks in unstructured environments often require both haptic and
visual feedback. However, it is non-trivial to manually design a robot controller that …
visual feedback. However, it is non-trivial to manually design a robot controller that …
Making sense of vision and touch: Learning multimodal representations for contact-rich tasks
Contact-rich manipulation tasks in unstructured environments often require both haptic and
visual feedback. It is nontrivial to manually design a robot controller that combines these …
visual feedback. It is nontrivial to manually design a robot controller that combines these …
Propagation networks for model-based control under partial observation
There has been an increasing interest in learning dynamics simulators for model-based
control. Compared with off-the-shelf physics engines, a learnable simulator can quickly …
control. Compared with off-the-shelf physics engines, a learnable simulator can quickly …
Augmenting physical simulators with stochastic neural networks: Case study of planar pushing and bouncing
An efficient, generalizable physical simulator with universal uncertainty estimates has wide
applications in robot state estimation, planning, and control. In this paper, we build such a …
applications in robot state estimation, planning, and control. In this paper, we build such a …
See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion
Humans are able to seamlessly integrate tactile and visual stimuli with their intuitions to
explore and execute complex manipulation skills. They not only see but also feel their …
explore and execute complex manipulation skills. They not only see but also feel their …
Combining physical simulators and object-based networks for control
Physics engines play an important role in robot planning and control; however, many real-
world control problems involve complex contact dynamics that cannot be characterized …
world control problems involve complex contact dynamics that cannot be characterized …
Impact invariant control with applications to bipedal locomotion
When legged robots impact their environment, they undergo large changes in their velocities
in a small amount of time. Measuring and applying feedback to these velocities is …
in a small amount of time. Measuring and applying feedback to these velocities is …
Learning the dynamics of compliant tool-environment interaction for visuo-tactile contact servoing
M Van der Merwe, D Berenson… - Conference on Robot …, 2023 - proceedings.mlr.press
Many manipulation tasks require the robot to control the contact between a grasped
compliant tool and the environment, eg scraping a frying pan with a spatula. However …
compliant tool and the environment, eg scraping a frying pan with a spatula. However …