Accepted Papers
Revisiting Proprioceptive Sensing for Articulated Object Manipulation. Thomas Lips and Francis wyffels.
Viewpoint Push Planning for Mapping of Unknown Confined Spaces. Nils Dengler, Sicong Pan, Vamsi Kalagaturu, Rohit Menon, Murad Dawood, and Maren Bennewitz.
STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation. Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan, and Kris Hauser.
A Robust and Safe Strategy for Robotic Assembly. Yi Liu, Andreas Verleysen, and Francis wyffels.
Sampling-Based MPC Using a GPU-parallelizable Physics Simulator as Dynamic Model: an Open Source Implementation with IsaacGym. Corrado Pezzato, Chadi Salmi, Elia Trevisan, Javier Alonso-Mora, and Carlos Hernandez Corbato.
Closed-Loop Tactile Controller for Tool Manipulation. Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan, and Dennis Hong.
Real-Time Physics-Based Object Pose Tracking during Contact-Based Manipulation. Zisong Xu, Rafael Papallas, and Mehmet Dogar.
High-Resolution Pixelwise Contact Area and Normal Force Estimation for the GelSight Mini Visuotactile Sensor Using Neural Networks. Niklas Funk, Paul-Otto Muller, Boris Belousov, Anton Savchenko, Rolf Findeisen, and Jan Peters.
Bilateral Tactile-Based Telerobotics Interface for Blind Objects Reconstruction. Gabriele Giudici, Bukeikhan Omarali, Augusto Bonzini, Kaspar Althoefer, Ildar Farkhatdinov, and Lorenzo Jamone.
Contact-Rich Object Insertion: Lessons for Zero-Shot Policy Transfer. Samarth Brahmbhatt, Ankur Deka, Andrew Spielberg, and Matthias Muller.
Dynamic Programming using Tensor Approximation for Contact-rich Manipulation. Teng Xue, Suhan Shetty, and Sylvain Calinon.
Second-Order Differential Dynamic Programming for Whole-Body MPC of Legged Robots. John Nganga, He Li, and Patrick M. Wensing.
Improving Contact-Rich Robotic Simulation with Generalized Rigid-Body Dynamics Algorithms. Matthew Chignoli, Nicholas Adrian, Sangbae Kim, and Patrick M. Wensing.
In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion. Chaoyi Pan, Marion Lepert, Shenli Yuan, Rika Antonova, and Jeannette Bohg.
Surface Perception through Haptic-Auditory Contact Data. Behnam Khojasteh, Yitian Shao, and Katherine J. Kuchenbecker.
Few-Shot Semi-supervised Learning From Demonstration for Generalisation of Force-Based Motor Skills Across Objects Properties. Marina Y. Aoyama, Joao Moura, Namiko Saito, and Sethu Vijayakumar.
Hard vs. Soft Contacts in Trajectory Optimization of Legged Robots: An Example with a Compliant Rubber Foot. Maximilian Raff, C. David Remy.
What Goes Bump in the Night: Learning Tactile Control for Vision-Occluded Crowd Navigation. Kyle Morgenstein, C Junfeng Jiao, Luis Sentis.
A Differentiable Formulation for Uncertain Pose Estimation during Contact. Jeongmin Lee, Minji Lee, and Dongjun Lee.
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, and Danica Kragic.
Examining Tactile Feature Extraction for Shape Reconstruction in Robotic Grippers. Shubhan P. Patni and Matej Hoffmann.
Robust Single-Point Pushing with Force Feedback. Adam Heins and Angela P. Schoellig.