Accepted Contributions
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg
Philip Arm, Mayank Mittal, Hendrik Kolvenbach, and Marco Hutter
Safe Nonlinear Model Predictive Control using a Learned Approximate Control-Invariant Set
Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete
Active-Perceptive Motion Generation for Mobile Manipulation
Snehal Jauhri, Sophie Lueth, Georgia Chalvatzaki
Robot-to-Robot Object Handover with Dynamic Focus
Yansong Wu, Lingyun Chen, Ignacio Perez Mahiques, Zhenshan Bing, Fan Wu, Abdalla Swikir, Alois Knoll, Sami Haddadin
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators
Changyi Lin, Xingyu Liu, Yuxiang Yang, Yaru Niu, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots, Ding Zhao
Adaptive Distance Functions via Kelvin Transformation and Applications to Robotic Manipulation
Rafael I. Cabral Muchacho, Florian T. Pokorny
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu
RoboDuet: A Framework Affording Mobile-Manipulation and Cross-Embodiment
Guoping Pan, Qingwei Ben, Zhecheng Yuan, Guangqi Jiang, Yandong Ji, Jiangmiao Pang, Houde Liu, Huazhe Xu
Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol
Learning Force Control for Legged Manipulation
Tifanny Portela, Gabriel B. Margolis, Yandong Ji, Pulkit Agrawal
Sim-to-Real Learning for Humanoid Box Loco-Manipulation
Jeremy Dao, Helei Duan, Alan Fern