Carmelo Sferrazza

51 papers A* 7A 5Misc 1Journal 34Unranked 4

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Flow Policy Gradients for Robot Control. CoRR Brent Yi, Hongsuk Choi, Himanshu Gaurav Singh, Xiaoyu Huang, Takara E. Truong, Carmelo Sferrazza, Yi Ma, Rocky Duan, Pieter Abbeel, Guanya Shi, C. Karen Liu, Angjoo Kanazawa
2026	J	`jnl`	Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching. CoRR Zhen Wu, Xiaoyu Huang, Lujie Yang, Yuanhang Zhang, Koushil Sreenath, Xi Chen, Pieter Abbeel, Rocky Duan, Angjoo Kanazawa, Carmelo Sferrazza, Guanya Shi, C. Karen Liu
2026	J	`jnl`	RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains. CoRR Yuanhang Zhang, Younggyo Seo, Juyue Chen, Yifu Yuan, Koushil Sreenath, Pieter Abbeel, Carmelo Sferrazza, C. Karen Liu, Rocky Duan, Guanya Shi
2025	A*	`conf`	ActSafe: Active Exploration with Safety Constraints for Reinforcement Learning. ICLR Yarden As, Bhavya Sukhija, Lenart Treven, Carmelo Sferrazza, Stelian Coros, Andreas Krause
2025	A*	`conf`	Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding. ICRA Joshua Jones, Oier Mees, Carmelo Sferrazza, Kyle Stachowicz, Pieter Abbeel, Sergey Levine
2025	J	`jnl`	Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding. CoRR Joshua Jones, Oier Mees, Carmelo Sferrazza, Kyle Stachowicz, Pieter Abbeel, Sergey Levine
2025	J	`jnl`	Bigger, Regularized, Categorical: High-Capacity Value Functions are Efficient Multi-Task Learners. CoRR Michal Nauman, Marek Cygan, Carmelo Sferrazza, Aviral Kumar, Pieter Abbeel
2025	J	`jnl`	FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control. CoRR Younggyo Seo, Carmelo Sferrazza, Haoran Geng, Michal Nauman, Zhao-Heng Yin, Pieter Abbeel
2025	J	`jnl`	GaussGym: An open-source real-to-sim framework for learning locomotion from pixels. CoRR Alejandro Escontrela, Justin Kerr, Arthur Allshire, Jonas Frey, Rocky Duan, Carmelo Sferrazza, Pieter Abbeel
2025	A*	`conf`	Hand-Object Interaction Pretraining from Videos. ICRA Himanshu Gaurav Singh, Antonio Loquercio, Carmelo Sferrazza, Jane Wu, Haozhi Qi, Pieter Abbeel, Jitendra Malik
2025	J	`jnl`	Learning Sim-to-Real Humanoid Locomotion in 15 Minutes. CoRR Younggyo Seo, Carmelo Sferrazza, Juyue Chen, Guanya Shi, Rocky Duan, Pieter Abbeel
2025	A*	`conf`	MaxInfoRL: Boosting exploration in reinforcement learning through information gain maximization. ICLR Bhavya Sukhija, Stelian Coros, Andreas Krause, Pieter Abbeel, Carmelo Sferrazza
2025	J	`jnl`	MuJoCo Playground. CoRR Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder A. Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel
2025	J	`jnl`	OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction. CoRR Lujie Yang, Xiaoyu Huang, Zhen Wu, Angjoo Kanazawa, Pieter Abbeel, Carmelo Sferrazza, C. Karen Liu, Rocky Duan, Guanya Shi
2025	J	`jnl`	Optical Tactile Sensing for Aerial Multicontact Interaction: Design, Integration, and Evaluation. IEEE Trans. Robotics Emanuele Aucone, Carmelo Sferrazza, Manuel Gregor, Raffaello D'Andrea, Stefano Mintchev
2025	J	`jnl`	SOMBRL: Scalable and Optimistic Model-Based RL. CoRR Bhavya Sukhija, Lenart Treven, Carmelo Sferrazza, Florian Dörfler, Pieter Abbeel, Andreas Krause
2024	J	`jnl`	ActSafe: Active Exploration with Safety Constraints for Reinforcement Learning. CoRR Yarden As, Bhavya Sukhija, Lenart Treven, Carmelo Sferrazza, Stelian Coros, Andreas Krause
2024	Misc	`conf`	Body Transformer: Leveraging Robot Embodiment for Policy Learning. CoRL Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel
2024	J	`jnl`	Body Transformer: Leveraging Robot Embodiment for Policy Learning. CoRR Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel
2024	A*	`conf`	Chain of Hindsight aligns Language Models with Feedback. ICLR Hao Liu, Carmelo Sferrazza, Pieter Abbeel
2024	J	`jnl`	Hand-Object Interaction Pretraining from Videos. CoRR Himanshu Gaurav Singh, Antonio Loquercio, Carmelo Sferrazza, Jane Wu, Haozhi Qi, Pieter Abbeel, Jitendra Malik
2024	—	`conf`	HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation. Robotics: Science and Systems Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, Pieter Abbeel
2024	J	`jnl`	HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation. CoRR Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, Pieter Abbeel
2024	J	`jnl`	MaxInfoRL: Boosting exploration in reinforcement learning through information gain maximization. CoRR Bhavya Sukhija, Stelian Coros, Andreas Krause, Pieter Abbeel, Carmelo Sferrazza
2024	J	`jnl`	Optical Tactile Sensing for Aerial Multi-Contact Interaction: Design, Integration, and Evaluation. CoRR Emanuele Aucone, Carmelo Sferrazza, Manuel Gregor, Raffaello D'Andrea, Stefano Mintchev
2024	A	`conf`	The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning. IROS Carmelo Sferrazza, Younggyo Seo, Hao Liu, Youngwoon Lee, Pieter Abbeel
2023	J	`jnl`	Chain of Hindsight Aligns Language Models with Feedback. CoRR Hao Liu, Carmelo Sferrazza, Pieter Abbeel
2023	J	`jnl`	Language Reward Modulation for Pretraining Reinforcement Learning. CoRR Ademi Adeniji, Amber Xie, Carmelo Sferrazza, Younggyo Seo, Stephen James, Pieter Abbeel
2023	J	`jnl`	The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning. CoRR Carmelo Sferrazza, Younggyo Seo, Hao Liu, Youngwoon Lee, Pieter Abbeel
2023	—	`conf`	Unobtrusive Sleep Position Classification Using a Novel Optical Tactile Sensor. EMBC Alexander Breuss, Carmelo Sferrazza, Jonas Pleisch, Raffaello D'Andrea, Robert Riener
2022	A*	`conf`	Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor. ICRA Pietro Griffa, Carmelo Sferrazza, Raffaello D'Andrea
2021	J	`jnl`	A Vision-Based Sensing Approach for a Spherical Soft Robotic Arm. Frontiers Robotics AI Matthias Hofer, Carmelo Sferrazza, Raffaello D'Andrea
2021	J	`jnl`	Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor. CoRR Pietro Griffa, Carmelo Sferrazza, Raffaello D'Andrea
2021	J	`jnl`	Zero-Shot Sim-to-Real Transfer of Tactile Control Policies for Aggressive Swing-Up Manipulation. IEEE Robotics Autom. Lett. Thomas Bi, Carmelo Sferrazza, Raffaello D'Andrea
2021	J	`jnl`	Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation. CoRR Thomas Bi, Carmelo Sferrazza, Raffaello D'Andrea
2020	J	`jnl`	A Vision-based Sensing Approach for a Spherical Soft Robotic Arm. CoRR Matthias Hofer, Carmelo Sferrazza, Raffaello D'Andrea
2020	A	`conf`	Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing. IROS Carmelo Sferrazza, Thomas Bi, Raffaello D'Andrea
2020	J	`jnl`	Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing. CoRR Carmelo Sferrazza, Thomas Bi, Raffaello D'Andrea
2020	J	`jnl`	Sim-to-real for high-resolution optical tactile sensing: From images to 3D contact force distributions. CoRR Carmelo Sferrazza, Raffaello D'Andrea
2020	—	`conf`	Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor. RoboSoft Camill Trueeb, Carmelo Sferrazza, Raffaello D'Andrea
2020	A	`conf`	Vision-Based Proprioceptive Sensing: Tip Position Estimation for a Soft Inflatable Bellow Actuator. IROS Peter Werner, Matthias Hofer, Carmelo Sferrazza, Raffaello D'Andrea
2019	J	`jnl`	Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor. Sensors Carmelo Sferrazza, Raffaello D'Andrea
2019	J	`jnl`	Ground Truth Force Distribution for Learning-Based Tactile Sensing: A Finite Element Approach. IEEE Access Carmelo Sferrazza, Adam Wahlsten, Camill Trueeb, Raffaello D'Andrea
2019	J	`jnl`	Ground truth force distribution for learning-based tactile sensing: a finite element approach. CoRR Carmelo Sferrazza, Adam Wahlsten, Camill Trueeb, Raffaello D'Andrea
2019	J	`jnl`	Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor. CoRR Camill Trueeb, Carmelo Sferrazza, Raffaello D'Andrea
2019	A	`conf`	Transfer learning for vision-based tactile sensing. IROS Carmelo Sferrazza, Raffaello D'Andrea
2019	J	`jnl`	Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators. CoRR Peter Werner, Matthias Hofer, Carmelo Sferrazza, Raffaello D'Andrea
2018	J	`jnl`	Transfer learning for vision-based tactile sensing. CoRR Carmelo Sferrazza, Raffaello D'Andrea
2017	A*	`conf`	Implementation of a parametrized infinite-horizon model predictive control scheme with stability guarantees. ICRA Michael Muehlebach, Carmelo Sferrazza, Raffaello D'Andrea
2017	—	`conf`	Trajectory tracking and iterative learning on an unmanned aerial vehicle using parametrized model predictive control. CDC Carmelo Sferrazza, Michael Muehlebach, Raffaello D'Andrea
2016	A	`conf`	Numerical search for local (partial) differential flatness. IROS Carmelo Sferrazza, Diego Pardo, Jonas Buchli