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. Best Paper Award Finalist at IEEE International Conference on Robotics and Automation (ICRA) 2026.

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

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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

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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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