Author

Robert K. Katzschmann

3 papers indexed here

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Preprint Sep 2026

All You Need Is Low Fidelity: Zero-Shot Sim-to-Real of Learned Robotic Fish Control

Complex tasks for underwater robots remain limited by the capabilities of their controllers. Learning a better one for a soft, underactuated robotic fish trades simulator cost against fidelity. We show that an intentionally low-fidelity simulator is enough: a stateless, quasi-steady fluid model with no wake and no adde...

Liam Maloney, Simon Ramchandani, M. Y. Michelis et al. · 0 citations

Preprint Sep 2026

Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation

Dexterous in-hand manipulation of a grasped object with an anthropomorphic hand is an unsolved frontier for robot dexterity. The contact-richness and highly dynamic nature of object-hand interactions tend to require extensive modeling or data-collection efforts for learning-based approaches. Modern simulators used for...

Kai Stewart, Yasunori Toshimitsu, Robert K. Katzschmann · 0 citations

Jul 2026

Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting

The Sampling-Based Retargeter (SBR) is introduced, a novel gradient-free retargeting method drawn from the rich literature of sampling-based control and explicitly designed for low-jitter, real-time kinematic retargeting.

R. J. Malate, Erik Bauer, Norica Bacuieti et al. · arXiv.org · 1 citation