M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation
Miquel Oller, Qiyang Qian, Radu Corcodel, Siddarth Jain
International Conference on Robotics and Automation (ICRA), 2026
CV
Education
- Ph.D in Robotics, University of Michigan, Ann Arbor, MI, 2025
- M.S. in Robotics, University of Michigan, Ann Arbor, MI, 2024
- B.S. in EECS, Technical University of Catalonia (UPC), Barcelona, Spain, 2018
- B.S. in ME, Technical University of Catalonia (UPC), Barcelona, Spain 2018
Work experience
- November 2025 - Present: Senior Researcher
- Samsung Research America SRA
- April 2025 - November 2025: Postdoctoral Researcher
- University of Michigan, Ann Arbor
- Manipulation and Mechanisms Intelligence Laboratory MMINT
- Supervisor: Nima Fazeli
- June 2020 - March 2025: Graduate Student Research Assistant
- University of Michigan, Ann Arbor
- Manipulation and Mechanisms Intelligence Laboratory MMINT
- Supervisor: Nima Fazeli
- June 2024 - September 2024: Graduate Intern
- Mitsubishi Electric Research Laboratory MERL
- Supervisors: Siddarth Jain, Devesh Jha, and Radu Corcodel
- 2018 - 2019: Visiting Researcher
- Massachusetts Institute of Technology (MIT)
- Manipulation and Mechanisms Laboratory MCube
- Supervisor: Alberto Rodriguez
Publications
HydroSoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
Miquel Oller, An Dang, Nima Fazeli
International Conference on Robotics and Automation (ICRA), 2026Cross-Sensor Touch Generation
Samanta Rodriguez, Yiming Dou, Miquel Oller, Andrew Owens, Nima Fazeli
9th Conference on Robotic Learning (CoRL), 2025Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
Mark Van der Merwe, Miquel Oller, Dmitry Berenson, Nima Fazeli
Robotic and Automation Letters (RA-L), 2025Contrastive Touch-to-Touch Pretraining (CTTP)
Samanta Rodriguez, Yiming Dou, William van den Bogert, Miquel Oller, Kevin So, Andrew Owens, Nima Fazeli
International Conference on Robotics and Automation (ICRA), 2025Tactile Neural De-rendering
J.A. Eyzaguirre, Miquel Oller, Nima Fazeli
Preprint, 2024Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation
Samanta Rodriguez, Yiming Dou, Miquel Oller, Andrew Owens, Nima Fazeli
Preprint, 2024Neural Inverse Source Problems
Youngsun Wi, Jayjun Lee, Miquel Oller, Nima Fazeli
8th Conference on Robotic Learning (CoRL), 2024Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control
Miquel Oller, Dmitry Berenson, Nima Fazeli
Robotic Science and Systems (RSS), 2024TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control
Miquel Oller, Dmitry Berenson, Nima Fazeli
7th Conference on Robotic Learning (CoRL), 2023Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
Miquel Oller, Mireia Planas, Dmitry Berenson, Nima Fazeli
6th Conference on Robotic Learning (CoRL), 2022See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion
Nima Fazeli, Miquel Oller, Jiajun Wu, Zheng Wu, J. B. Tenenbaum, Alberto Rodriguez
Science Robotics, 2019