Soft Robotics Lab Project Pages

Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows

Preprint (arXiv), 2026

Chenyu Yang*, Denis Tarasov*, et al.

Sample-efficient real-world dexterous policy fine-tuning with action-chunked critics and normalizing flows.

*Equal contribution

Sensorized Soft Skin for Dexterous Robotic Hands

IEEE ICRA, 2024

Jana Egli, Benedek Forrai, et al.

Sensorized soft skin for high-resolution tactile perception in soft robotics.

Sim-to-Real of Soft Robots with Learned Residual Physics

IEEE RA-L, 2024

Junpeng Gao*, Mike Yan Michelis*, et al.

Hybrid sim-to-real modeling for soft robots that augments analytical simulation with learned residual physics.

*Equal contribution

Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints

IEEE-RAS Humanoids, 2023

Yasunori Toshimitsu, Benedek Forrai, et al.

Adaptive dexterous manipulation for ball rolling tasks with soft robotic systems.

Vision-controlled jetting for composite systems and robots

Nature, 2023

Thomas J. K. Buchner, Simon Rogler, et al.

Vision-driven control and optimization for ink-jet based manufacturing.