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cs.RO2023
BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human Demonstration
Junjia Liu, Hengyi Sim, Chenzui Li +1
Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. How…
cs.RO2023
SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer
Junjia Liu, Zhihao Li, Wanyu Lin +3
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape chara…