← authors · overview

• Whole-Body MPC for a Dynamically Stable Mobile Manipulator
  2019 · 102 citations
• Adaptive CLF-MPC With Application To Quadrupedal Robots
  2021 · 71 citations
• Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
  2021 · 49 citations
• Collision detection and identification for a legged manipulator
  2022 · 16 citations
• ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors
  2026
• AnyTask: an Automated Task and Data Generation Framework for Advancing Sim-to-Real Policy Learning
  2025
• Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
  2025
• Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
  2021
• Theia: Distilling Diverse Vision Foundation Models for Robot Learning
  2024