Alejandro Castro

2 accepted papers

2026

Irrotational Contact Fields

Alejandro Castro, Xuchen Han, Joseph Masterjohn

ICRA 2026poster

We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law of friction alongside the principle of maximum dissipation. Our approach is robust across a wide range of stiffness val…

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2026

Right-Side-Out: Learning Zero-Shot Sim-To-Real Garment Reversal

Chang Yu, Siyu Ma, Wenxin Du, Zeshun Zong, Han Xue, Wendi Chen +6

ICRA 2026poster

Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Right-Side-Out, a zero-shot sim-to-real framework that effectively solves this challenge by exploiting task structures. We …

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