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03/29/2023
Learning Excavation of Rigid Objects with Offline Reinforcement Learning
Autonomous excavation is a challenging task. The unknown contact dynamic...
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03/09/2023
GOATS: Goal Sampling Adaptation for Scooping with Curriculum Reinforcement Learning
In this work, we first formulate the problem of goal-conditioned robotic...
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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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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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06/02/2021
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units
This paper presents a novel trajectory optimization formulation to solve...
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01/29/2021