[ICRA2025] OCCUQ: Exploring Efficient Uncertainty Quantification for 3D Occupancy Prediction

We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructed from the robot morphology.

The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as a testbed for learning-based control. It is an unstable system with highly nonlinear yaw dynamics, non-holonomic driving, and discrete contact switches in a small, powerful, and rugged form factor.

Official repository of the human-to-robot handover track within the 10th Robotic Grasping and Manipulation Competition (RGMC) at the 2025 IEEE/RAS International Conference on Robotics and Automation (ICRA), Atlanta, USA, 19-23 May 2025.

Code supplementary for nonlinear yaw controller in paper: "The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Driving"