CS
Carmelo Sferrazza
cs.ROcs.AIcs.LGcs.CVcs.SYeess.SYcomputer visioncs.GRmachine learningtactile sensing
On Valency
published · living versionsW_7vdwyaq3·v1 · currentpublished
DexPort: A Hand-Held Skill Interface for Dexterous Hand Data Collection
with Amber Xie, Jiawei Fu, Xiaofeng Guo, Guanya Shi +1
1 version
W_v8r7k4sm·v2published
Preprints & journals
41 papers in the corpus · 2018–2026SSIO: Self-Supervised Inertial Odometry2610.25988v2 · Yuheng Qiu, Yutian Chen, Carlton Cort et al.2026 · 0 citationsarXivon Valency
PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface2610.12558v1 · Xiaomeng Xu, Han Zhang, Zhian Ruan et al.2026 · 0 citationsarXiv
QF3: Fast Flow RL with Filtered Q-Gradients2610.08789v1 · Chung Min Kim, Brent Yi, David McAllister et al.2026 · 0 citationsarXiv
EyeRobot 2.0: Active Gaze for Precise Manipulation without Wrist Cameras2610.03710v1 · Kush Hari, Justin Kerr, Nidhya Shivakumar et al.2026 · 0 citationsarXiv
Tactile Curiosity Drives Robot Interaction2609.40134v3 · Klemens Iten, Alexander Proshkin, Bhavya Sukhija et al.2026 · 0 citationsarXiv
Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation2609.38172v1 · Zihan Wang, Zhen Wu, Pieter Abbeel et al.2026 · 0 citationsarXiv
TactX: Learning Shared Tactile Representations Across Diverse Sensors2606.31236v1 · Junsung Park, Sachin Bhadang, Carmelo Sferrazza et al.2026 · 0 citationsarXiv
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes2606.30645v1 · Yen-Jen Wang, Jiaman Li, Sirui Chen et al.2026 · 0 citationsarXiv
Generating Robot Hands from Human Demonstrations2606.20549v1 · Sha Yi, Nicklas Hansen, Xueqian Bai et al.2026 · 0 citationsarXiv
Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching2602.15827v2 · Zhen Wu, Xiaoyu Huang, Lujie Yang et al.2026 · 1 citationarXiv
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains2602.03002v3 · Yuanhang Zhang, Younggyo Seo, Juyue Chen et al.2026 · 0 citationsarXiv
Flow Policy Gradients for Robot Control2602.02481v2 · Brent Yi, Hongsuk Choi, Himanshu Gaurav Singh et al.2026 · 0 citationsarXiv
Learning Sim-to-Real Humanoid Locomotion in 15 Minutes2512.01996v1 · Younggyo Seo, Carmelo Sferrazza, Juyue Chen et al.2025 · 0 citationsarXiv
SOMBRL: Scalable and Optimistic Model-Based RL2511.20066v1 · Bhavya Sukhija, Lenart Treven, Carmelo Sferrazza et al.2025 · 0 citationsarXiv
GaussGym: An open-source real-to-sim framework for learning locomotion from pixels2510.15352v1 · Alejandro Escontrela, Justin Kerr, Arthur Allshire et al.2025 · 0 citationsarXiv
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction2509.26633v3 · Lujie Yang, Xiaoyu Huang, Zhen Wu et al.2025 · 1 citationarXiv
Bigger, Regularized, Categorical: High-Capacity Value Functions are Efficient Multi-Task Learners2505.23150v1 · Michal Nauman, Marek Cygan, Carmelo Sferrazza et al.2025 · 0 citationsarXiv
FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control2505.22642v3 · Younggyo Seo, Carmelo Sferrazza, Haoran Geng et al.2025 · 0 citationsarXiv
MuJoCo Playground2502.08844v1 · Kevin Zakka, Baruch Tabanpour, Qiayuan Liao et al.2025 · 1 citationarXiv
Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding2501.04693v3 · Joshua Jones, Oier Mees, Carmelo Sferrazza et al.2025 · 14 citationsarXiv
MaxInfoRL: Boosting exploration in reinforcement learning through information gain maximization2412.12098v2 · Bhavya Sukhija, Stelian Coros, Andreas Krause et al.2024 · 1 citationarXiv
ActSafe: Active Exploration with Safety Constraints for Reinforcement Learning2410.09486v3 · Yarden As, Bhavya Sukhija, Lenart Treven et al.2024 · 0 citationsarXiv
Hand-Object Interaction Pretraining from Videos2409.08273v1 · Himanshu Gaurav Singh, Antonio Loquercio, Carmelo Sferrazza et al.2024 · 8 citationsarXiv
Body Transformer: Leveraging Robot Embodiment for Policy Learning2408.06316v1 · Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu et al.2024 · 1 citationarXiv
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation2403.10506v2 · Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin et al.2024 · 30 citationsarXiv
Optical Tactile Sensing for Aerial Multi-Contact Interaction: Design, Integration, and Evaluation2401.17149v1 · Emanuele Aucone, Carmelo Sferrazza, Manuel Gregor et al.2024 · 0 citationsarXiv
The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning2311.00924v1 · Carmelo Sferrazza, Younggyo Seo, Hao Liu et al.2023 · 16 citationsarXiv
Language Reward Modulation for Pretraining Reinforcement Learning2308.12270v1 · Ademi Adeniji, Amber Xie, Carmelo Sferrazza et al.2023 · 5 citationsarXiv
Unobtrusive Sleep Position Classification Using a Novel Optical Tactile Sensor.38083698 · Breuss, Alexander, Sferrazza, Carmelo, Pleisch, Jonas et al.2023 · 3 citationsAnnual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference. 2023;2023:1-5
Chain of Hindsight Aligns Language Models with Feedback2302.02676v8 · Hao Liu, Carmelo Sferrazza, Pieter Abbeel2023 · 30 citationsarXiv
Sim-to-Real for High-Resolution Optical Tactile Sensing: From Images to Three-Dimensional Contact Force Distributions.34842455 · Sferrazza, Carmelo, D'Andrea, Raffaello2022 · 42 citationsSoft robotics. 2022;9(5):926-937
Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor2109.11504v1 · Pietro Griffa, Carmelo Sferrazza, Raffaello D'Andrea2021 · 20 citationsarXiv
A Vision-Based Sensing Approach for a Spherical Soft Robotic Arm.33718442 · Hofer, Matthias, Sferrazza, Carmelo, D'Andrea, Raffaello2021 · 38 citationsFrontiers in robotics and AI. 2021;8:630935
Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation2101.02680v3 · Thomas Bi, Carmelo Sferrazza, Raffaello D'Andrea2021 · 31 citationsarXiv
Sim-to-real for high-resolution optical tactile sensing: From images to 3D contact force distributions2012.11295v3 · Carmelo Sferrazza, Raffaello D'Andrea2020 · 6 citationsarXiv
Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing2003.02640v1 · Carmelo Sferrazza, Thomas Bi, Raffaello D'Andrea2020 · 42 citationsarXiv
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor1910.14526v3 · Camill Trueeb, Carmelo Sferrazza, Raffaello D'Andrea2019 · 57 citationsProceedings of the 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), pp. 333-338
Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators1909.09096v1 · Peter Werner, Matthias Hofer, Carmelo Sferrazza et al.2019 · 1 citationarXiv
Ground truth force distribution for learning-based tactile sensing: a finite element approach1909.04000v2 · Carmelo Sferrazza, Adam Wahlsten, Camill Trueeb et al.2019 · 74 citationsIEEE Access, vol. 7, pp. 173438-173449, 2019
Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor.30813292 · Sferrazza, Carmelo, D'Andrea, Raffaello2019 · 145 citationsSensors (Basel, Switzerland). 2019;19(4)
Transfer learning for vision-based tactile sensing1812.03163v3 · Carmelo Sferrazza, Raffaello D'Andrea2018 · 27 citationsProceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7961-7967
Career total: 50 works. 41 are in this corpus.
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