Parkour is a grand challenge for legged locomotion that requires robots to overcome various
obstacles rapidly in complex environments. Existing methods can generate either diverse …

Learning contact-rich manipulation skills is essential. Such skills require the robots to
interact with the environment with feasible manipulation trajectories and suitable compliance …

We present Neural Contact Fields, a method that brings together neural fields and tactile
sensing to address the problem of tracking extrinsic contact between object and …

Planning robot dexterity is challenging due to the non-smoothness introduced by contacts,
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …

Daily objects embedded in a contextual environment are often ungraspable initially.
Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of …

We present a system for non-prehensile manipulation that require a significant number of
contact mode transitions and the use of environmental contacts to successfully manipulate …

The skill of pivoting an object with a robotic system is challenging for the external forces that
act on the system, mainly given by contact interaction. The complexity increases when the …

We present ArrayBot, a distributed manipulation system consisting of a 16× 16 array of
vertically sliding pillars integrated with tactile sensors. Functionally, ArrayBot is designed to …

The ability to learn from human demonstration endows robots with the ability to automate
various tasks. However, directly learning from human demonstration is challenging since the …

Robots need to manipulate objects in constrained environments like shelves and cabinets
when assisting humans in everyday settings like homes and offices. These constraints make …