Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. - Yasunori Toshimitsu; Benedek Forrai; Barnabas Gavin Cangan; Ulrich Steger; Manuel Knecht; Stefan Weirich; Robert K. Katzschmann (Humanoids, 2023)

Event-based Agile Object Catching with a Quadrupedal Robot. - Benedek Forrai; Takahiro Miki; Daniel Gehrig; Marco Hutter 001; Davide Scaramuzza 001 (ICRA, 2023)

Sensorized Soft Skin for Dexterous Robotic Hands. - Jana Egli; Benedek Forrai; Thomas Buchner; Jiangtao Su; Xiaodong Chen; Robert K. Katzschmann (ICRA, 2024)

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 (CoRR, 2024)

mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity. - Elvis Nava; Victoriano Montesinos; Erik Bauer; Benedek Forrai; Jonas Pai; Stefan Weirich; Stephan-Daniel Gravert; Philipp Wand; Stephan Polinski; Benjamin F. Grewe; Robert K. Katzschmann (CoRR, 2025)