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Learning contact-rich manipulation skills is essential.
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Chance-constrained optimization in contact-rich systems for robust manipulation
Y. Shirai, D. K. Jha, A. Raghunathan, and D. Romeres · 2022
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Offline-online learning of deformation model for cable manipulation with graph neural networks
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R. Chitnis, S. Tulsiani, S. Gupta, and A. Gupta · 2020
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Learning sequences of manipulation primitives for robotic assembly
N. Vuong, H. Pham, and Q.-C. Pham · 2021
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Contact pose identification for peg-in-hole assembly under uncertainties
S. Jin, X. Zhu, C. Wang, and M. Tomizuka · 2021
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6-dof contrastive grasp proposal network
X. Zhu, L. Sun, Y. Fan, and M. Tomizuka · 2021
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Learning variable impedance control via inverse reinforcement learning for force-related tasks
X. Zhang, L. Sun, Z. Kuang, and M. Tomizuka · 2021
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Fundamental challenges in deep learning for stiff contact dynamics
M. Parmar, M. Halm, and M. Posa · 2021
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Online learning of unknown dynamics for model-based controllers in legged locomotion
Y. Sun, W. L. Ubellacker, W.-L. Ma, X. Zhang, C. Wang, N. V. Csomay-Shanklin, M. Tomizuka, K. Sreenath, and A. D. Ames · 2021
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C. Wang, Y. Zhang, X. Zhang, Z. Wu, X. Zhu, S. Jin, T. Tang, and M. Tomizuka · 2022
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Iterative residual policy: for goal-conditioned dynamic manipulation of deformable objects
C. Chi, B. Burchfiel, E. Cousineau, S. Feng, and S. Song · 2022
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Reinforcement learning of impedance policies for peg-in-hole tasks: Role of asymmetric matrices
S. Kozlovsky, E. Newman, and M. Zacksenhouse · 2022
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N. Doshi, O. Taylor, and A. Rodriguez · 2022
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C. Wang, X. Zhang, Z. Kuang, and M. Tomizuka · 2022
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Bpomp: A bilevel path optimization formulation for motion planning
C. Wang, H.-C. Lin, S. Jin, X. Zhu, L. Sun, and M. Tomizuka · 2022
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Zero-shot policy transfer with disentangled task representation of meta-reinforcement learning
Z. Wu, Y. Xie, W. Lian, C. Wang, Y. Guo, J. Chen, S. Schaal, and M. Tomizuka · 2023
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Robot manipulation task learning by leveraging se (3) group invariance and equivariance
J. Seo, N. P. S. Prakash, X. Zhang, C. Wang, J. Choi, M. Tomizuka, and R. Horowitz · 2023
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Learning generalizable pivoting skills
X. Zhang, S. Jain, B. Huang, M. Tomizuka, and D. Romeres · 2023
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Allowing safe contact in robotic goal-reaching: Planning and tracking in operational and null spaces
X. Zhu, W. Lian, B. Yuan, C. D. Freeman, and M. Tomizuka · 2023
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Human-oriented representation learning for robotic manipulation
M. Huo, M. Ding, C. Xu, T. Tian, X. Zhu, Y. Mu, L. Sun, M. Tomizuka, and W. Zhan · 2023
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Guided online distillation: Promoting safe reinforcement learning by offline demonstration
J. Li, X. Liu, B. Zhu, J. Jiao, M. Tomizuka, C. Tang, and W. Zhan · 2023
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A coarse-to-fine framework for dual-arm manipulation of deformable linear objects with whole-body obstacle avoidance
M. Yu, K. Lv, C. Wang, M. Tomizuka, and X. Li · 2023
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Industreal: Transferring contact-rich assembly tasks from simulation to reality
B. Tang, M. A. Lin, I. Akinola, A. Handa, G. S. Sukhatme, F. Ramos, D. Fox, and Y. Narang · 2023
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