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03/24/2023
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features
Planning robotic manipulation tasks, especially those that involve inter...
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03/23/2023
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation
Pre-defined manipulation primitives are widely used for cloth manipulati...
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01/05/2023
Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints
Matrix Lie groups are an important class of manifolds commonly used in c...
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10/27/2022
Learning Deep Robotic Skills on Riemannian manifolds
In this paper, we propose RiemannianFlow, a deep generative model that a...
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10/14/2022
Geometric Reinforcement Learning: The Case of Cartesian Space Orientation
Reinforcement learning (RL) enables an agent to learn by trial and error...
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09/20/2022
Deep Model Predictive Variable Impedance Control
The capability to adapt compliance by varying muscle stiffness is crucia...
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08/28/2022
Learning Stable Robotic Skills on Riemannian Manifolds
In this paper, we propose an approach to learn stable dynamical systems ...
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03/23/2022
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects
Evaluation of grasps on deformable 3D objects is a little-studied proble...
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03/07/2022
A Unified Formulation of Geometry-aware Dynamic Movement Primitives
Learning from demonstration (LfD) is considered as an efficient way to t...
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10/20/2021
Periodic DMP formulation for Quaternion Trajectories
Imitation learning techniques have been used as a way to transfer skills...
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09/11/2021
Deformation-Aware Data-Driven Grasp Synthesis
Grasp synthesis for 3D deformable objects remains a little-explored topi...
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07/19/2021
Towards synthesizing grasps for 3D deformable objects with physics-based simulation
Grasping deformable objects is not well researched due to the complexity...
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02/07/2021
Dynamic Movement Primitives in Robotics: A Tutorial Survey
Biological systems, including human beings, have the innate ability to p...
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10/16/2020
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements
Accurately modeling local surface properties of objects is crucial to ma...
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10/13/2020
Variable impedance control and learning – A review
Robots that physically interact with their surroundings, in order to acc...
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09/02/2020
A Novel Design of Soft Robotic Hand with a Human-inspired Soft Palm for Dexterous Grasping
Soft robotic hands and grippers are increasingly attracting attention as...
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03/12/2020
Geometry-aware Dynamic Movement Primitives
In many robot control problems, factors such as stiffness and damping ma...
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07/09/2019
Towards Orientation Learning and Adaptation in Cartesian Space
As a promising branch in robotics, imitation learning emerges as an impo...
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03/05/2019