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cs.RO2025
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…
cs.RO2024
A context-adaptive policy framework for robust and reactive robotic manipulation via uncertainty-aware imitation learning
Tim R. Winter, Ashok M. Sundaram, Leonard Klüpfel +4
Generating robust and reactive manipulation strategies that can adapt to changing context information is a challenging task in robotics. Over the years, Learning from Demonstration…
cs.RO2024
Bayesian optimization for robust robotic grasping using a sensorized compliant hand
Juan G. Lechuz-Sierra, Ana Elvira H. Martin, Ashok M. Sundaram +2
One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as incre…