AthenaZero: A low-inertia, bimanual robot for dynamic manipulation

arXiv:2609.19194 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-15

Code: https://github.com/oogle-deepmind/mujoco_

Terminology

• International Conference on Robotics and Automation — 8× in this paper
• Accuracy — 7× in this paper · explained in 1 episode
• Core — 7× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Adaptability — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Hysteresis — 2× in this paper · explained in 3 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Scaling Laws — 2× in this paper · explained in 4 episodes
• APEX — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Admittance Control — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Cyclic Synchronous Position — 1× in this paper
• Dynamic Adaptation — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• Alternative Metrics to Select Motors for Quasi-Direct Drive Actuators
• Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation

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