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cs.RO2022
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks
Zheng Wu, Wenzhao Lian, Changhao Wang +3
Learning generalizable insertion skills in a data-efficient manner has long been a challenge in the robot learning community. While the current state-of-the-art methods with reinfo…
cs.RO2022
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation
Mengxi Li, Rika Antonova, Dorsa Sadigh +1
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as kni…