4 papers
PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics
Jan Obrist, Miguel Zamora, Hehui Zheng +5
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in pa…
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
Dongho Kang, Jin Cheng, Miguel Zamora +2
This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach en…
PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulation
Jan Obrist, Miguel Zamora, Hehui Zheng +3
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robo…
TRTM: Template-based Reconstruction and Target-oriented Manipulation of Crumpled Cloths
Wenbo Wang, Gen Li, Miguel Zamora +1
Precise reconstruction and manipulation of the crumpled cloths is challenging due to the high dimensionality of cloth models, as well as the limited observation at self-occluded re…