Over the course of our research, when we run experiements, we will endeavor to package up the results of those experiments for public use. This page lists published datasets along with recommended citations, should you use that data.

Manual Cube Tossing

For our ContactNets work, we threw a 10 cm acrylic cube into a wooden surface, where it bounced, rolled, and slid. AprilTags were used to record pose information at 148 Hz. We collected 570 such tosses.


  1. ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit Representations
    Samuel Pfrommer*, Mathew Halm*, and Michael Posa
    In The Conference on Robot Learning (CoRL), 2020

Cassie Jumping

When evaluating our impact invariant controller, we collected 29 examples of Cassie jumping and landing.


  1. Validating Robotics Simulators on Real World Impacts
    Brian Acosta*, William Yang*, and Michael Posa
    IEEE Robotics and Automation Letters (RA-L), 2022