Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to unseen objects. We conjecture that this is due to the high...

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as balancing an unknown object on a thin rod standing upright. A...

Developing systems that can synthesize natural and life-like motions for simulated characters has long been a focus for computer animation. But in order for these systems to be useful for downstream applications, they need not only produce high-quality motions, but must also provide an accessible...