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03/21/2023
Cable Routing and Assembly using Tactile-driven Motion Primitives
Manipulating cables is challenging for robots because of the infinite de...
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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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10/31/2022
Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces
In recent years, impressive results have been achieved in robotic manipu...
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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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03/04/2022
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks
Manipulation tasks often require a robot to adjust its sensorimotor skil...
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01/30/2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
Promising results have been achieved recently in category-level manipula...
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09/19/2021
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
Task-relevant grasping is critical for industrial assembly, where downst...
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03/21/2021
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study
Over the past several years there has been a considerable research inves...
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03/08/2021
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks
In recent years, many learning based approaches have been studied to rea...
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01/07/2021
Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks
A key challenge towards the goal of multi-part assembly tasks is finding...
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11/17/2020
Learning Dense Rewards for Contact-Rich Manipulation Tasks
Rewards play a crucial role in reinforcement learning. To arrive at the ...
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07/04/2015