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08/29/2023
Robot Manipulation Task Learning by Leveraging SE(3) Group Invariance and Equivariance
This paper presents a differential geometric control approach that lever...
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06/15/2023
Learning from Local Experience: Informed Sampling Distributions for High Dimensional Motion Planning
This paper presents a sampling-based motion planning framework that leve...
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12/20/2022
Continuous Trajectory Optimization via B-splines for Multi-jointed Robotic Systems
Continuous formulations of trajectory planning problems have two main be...
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12/02/2022
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks
Learning generalizable insertion skills in a data-efficient manner has l...
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10/01/2022
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning
Humans are capable of abstracting various tasks as different combination...
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03/28/2022
Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks
Manipulating deformable linear objects by robots has a wide range of app...
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11/02/2021
Trajectory Splitting: A Distributed Formulation for Collision Avoiding Trajectory Optimization
Efficient trajectory optimization is essential for avoiding collisions i...
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11/01/2021
Safe Online Gain Optimization for Variable Impedance Control
Smooth behaviors are preferable for many contact-rich manipulation tasks...
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10/25/2021
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks
This paper introduces a discrete-continuous action space to learn insert...
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05/15/2021
Development of Soft Tactile Sensor for Force Measurement and Position Detection
As more robots are implemented for contact-rich tasks, tactile sensors a...
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01/29/2021