research

Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC

By Hien Bui, Yufeiyang Gao, Haoran Yang, Eric Cui, Siddhant Mody, Brian Acosta, Thomas Stephen Felix, Bibit Bianchini, and Michael Posa

project page arxiv

Learning a Vision-Based Footstep Planner for Hierarchical Walking Control

By Minku Kim, Brian Acosta, Pratik Chaudhari and Michael Posa. In 2025 IEEE-RAS International Conference on Humanoid Robots

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain

By Brian Acosta and Michael Posa. In IEEE Transactions on Robotics (T-RO), 2025

video pdf arxiv publisher

Friction Cone Constrained QP Solver for Whole Body Control

By Brian Acosta

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Bipedal Walking on Constrained Footholds with MPC Footstep Control

By Brian Acosta and Michael Posa. In IEEE-RAS International Conference on Humanoid Robots, 2023

video pdf arxiv publisher

Validating Robotics Simulators on Real-World Impacts

By Brian Acosta*, William Yang*, and Michael Posa. In IEEE Robotics and Automation Letters (RA-L), 2022

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