Publications
-
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation.
C. Sferrazza, D. Huang, X. Lin, Y. Lee and P. Abbeel.
Preprint. -
The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning.
C. Sferrazza, Y. Seo, H. Liu, Y. Lee and P. Abbeel.
Preprint. -
Language reward modulation for pretraining reinforcement learning.
A. Adeniji, A. Xie, C. Sferrazza, Y. Seo, S. James and P. Abbeel.
Preprint. -
Chain of hindsight aligns language models with feedback.
H. Liu, C. Sferrazza and P. Abbeel.
Proceedings of the International Conference on Learning Representations (ICLR), 2024. -
Unobtrusive Sleep Position Classification Using a Novel Optical Tactile Sensor
A. Breuss*, C. Sferrazza*, J. Pleisch, R. D'Andrea and R. Riener.
Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2023. -
Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor.
P. Griffa, C. Sferrazza and R. D'Andrea.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2022. -
Sim-to-real for high-resolution optical tactile sensing: From images to three-dimensional contact force distributions.
C. Sferrazza and R. D'Andrea.
Soft Robotics, 2022. -
Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation.
T. Bi, C. Sferrazza and R. D'Andrea.
IEEE Robotics and Automation Letters (RA-L), 2021. -
A Vision-based Sensing Approach for a Spherical Soft Robotic Arm.
M. Hofer, C. Sferrazza and R. D'Andrea.
Frontiers in Robotics and AI, 2021. -
Learning-based parametrized model predictive control for trajectory tracking.
C. Sferrazza, M. Muehlebach and R. D'Andrea.
Optimal Control Applications and Methods, 2020. -
Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing.
C. Sferrazza, T. Bi and R. D'Andrea.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. -
Vision-Based Proprioceptive Sensing: Tip Position Estimation for a Soft Inflatable Bellow Actuator.
P. Werner, M. Hofer, C. Sferrazza and R. D'Andrea.
Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2020. -
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor.
C. Trueeb, C. Sferrazza and R. D'Andrea.
Proceedings of the International Conference on Soft Robotics (RoboSoft), 2020.● Winner of the best paper award ● -
Ground Truth Force Distribution for Learning-Based Tactile Sensing: A Finite Element Approach.
C. Sferrazza, A. Wahlsten, C. Trueeb and R. D'Andrea.
IEEE Access, vol. 7, pp. 173438-173449, 2019. -
Transfer learning for vision-based tactile sensing.
C. Sferrazza and R. D'Andrea.
Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2019. -
Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor.
C. Sferrazza and R. D'Andrea.
Sensors, 19(4):928, 2019. -
Trajectory Tracking and Iterative Learning on an Unmanned Aerial Vehicle using Parametrized Model Predictive Control.
C. Sferrazza, M. Muehlebach and R. D'Andrea.
Proceedings of the Conference on Decision and Control (CDC), 2017. -
Implementation of a Parametrized Infinite-Horizon Model Predictive Control Scheme with Stability Guarantees.
M. Muehlebach, C. Sferrazza and R. D'Andrea.
Proceedings of the International Conference on Robotics and Automation (ICRA), 2017. -
Numerical Search for Local (Partial) Differential Flatness.
C. Sferrazza, D. Pardo and J. Buchli.
Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2016.