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Benedek Forrai

4 accepted papers

2026

mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs

Jonas Pai, Liam Achenbach, Oliver Sanchez, Stefanos Charalambous, Victoriano Montesinos, Benedek Forrai +2
RSS 2026poster

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy must implicitly infer complex physical dynamics and tempora…

Cited by 0Source ↗Scholar ↗
2025

Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand

Adrian Hess, Alexander M. Kübler, Benedek Forrai, Mehmet Remzi Dogar, Robert K. Katzschmann
IROS 2025

Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact inter-actions, and uncertainties in state estimation. Sampling-based model predictive control (MPC), using a physics simulator as the d

Cited by 5Source ↗Scholar ↗
2024

Sensorized Soft Skin for Dexterous Robotic Hands

Jana Egli, Benedek Forrai, Thomas Buchner, Jiangtao Su, Xiaodong Chen, Robert K. Katzschmann
ICRA 2024poster

Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating a wide range of objects. While the control of humanoid hand…

Cited by 2Source ↗Scholar ↗
2023

Event-based Agile Object Catching with a Quadrupedal Robot

Benedek Forrai, Takahiro Miki, Daniel Gehrig, Marco Hutter, Davide Scaramuzza
ICRA 2023poster

Quadrupedal robots are conquering various applications in indoor and outdoor environments due to their capability to navigate challenging uneven terrains. Exteroceptive information greatly enhances this capability since perceiving their surroundings allows them to adapt their controller and thus ach…

Cited by 34Source ↗code ↗Scholar ↗