Sotabase

Career

· Director of Robot Behavior, Atlas, Boston Dynamics2025–
· Assistant Professor, Mechanical Engineering; Lead of Manipulation and Mechanisms Lab (MCube), MIT2014–
· Member, Massachusetts Institute of Technology (MIT) Robot Locomotion Group

Publications (144)

Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching
IEEE International Conference on Robotics and Automation · 2017
664
cited
Learning Synergies Between Pushing and Grasping with Self-Supervised Deep Reinforcement Learning
IEEE/RJS International Conference on Intelligent RObots and Systems · 2018
624
cited
iNeRF: Inverting Neural Radiance Fields for Pose Estimation
IEEE/RJS International Conference on Intelligent RObots and Systems · 2020
542
cited
Multi-view self-supervised deep learning for 6D pose estimation in the Amazon Picking Challenge
IEEE International Conference on Robotics and Automation · 2016
477
cited
Analysis and Observations From the First Amazon Picking Challenge
IEEE Transactions on Automation Science and Engineering · 2016
447
cited
TossingBot: Learning to Throw Arbitrary Objects With Residual Physics
IEEE Transactions on robotics · 2019
434
cited
GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger
IEEE/RJS International Conference on Intelligent RObots and Systems · 2018
325
cited
Different purpose design strategies and techniques to improve the performance of a Dual Active Bridge with phase-shift control
Compel · 2014
311
cited
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
IEEE International Conference on Robotics and Automation · 2021
286
cited
Cable manipulation with a tactile-reactive gripper
Robotics: Science and Systems · 2019
284
cited
GelSlim 3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger
IEEE International Conference on Robotics and Automation · 2021
224
cited
An Insight into the Switching Process of Power MOSFETs: An Improved Analytical Losses Model
IEEE transactions on power electronics · 2010
197
cited
On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward
Proceedings of the National Academy of Sciences of the United States of America · 2020
152
cited
Dense Tactile Force Estimation using GelSlim and inverse FEM
IEEE International Conference on Robotics and Automation · 2018
151
cited
See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion
Science Robotics · 2019
136
cited
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
IEEE International Conference on Robotics and Automation · 2021
136
cited
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields
IEEE International Conference on Robotics and Automation · 2022
133
cited
Augmenting Physical Simulators with Stochastic Neural Networks: Case Study of Planar Pushing and Bouncing
IEEE/RJS International Conference on Intelligent RObots and Systems · 2018
126
cited
Modular Power Electronic Transformers: Modular Multilevel Converter Versus Cascaded H-Bridge Solutions
IEEE Industrial Electronics Magazine · 2016
123
cited
Tactile Dexterity: Manipulation Primitives with Tactile Feedback
IEEE International Conference on Robotics and Automation · 2020
112
cited
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