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09/08/2023
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation
In many contact-rich tasks, force sensing plays an essential role in ada...
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08/04/2023
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration
Developing robot controllers capable of achieving dexterous nonprehensil...
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01/31/2023
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
This paper presents OpTaS, a task specification Python library for Traje...
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10/13/2022
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Reliable contact simulation plays a key role in the development of (semi...
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09/27/2021
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints
Contact adaption is an essential capability when manipulating objects. T...
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06/23/2020
Multi-modal Trajectory Optimization for Impact-aware Manipulation
The transition from free motion to contact is a challenging problem in r...
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04/29/2014