211 citations · 402 across the 9 of their papers we have counts for
6 papers · 1 filter
Re-evaluating Parallel Finger-tip Tactile Sensing for Inferring Object Adjectives: An Empirical Study
Fangyi Zhang, Peter Corke
Finger-tip tactile sensors are increasingly used for robotic sensing to establish stable grasps and to infer object properties. Promising performance has been shown in a number of…
Learning Fabric Manipulation in the Real World with Human Videos
Robert Lee, Jad Abou-Chakra, Fangyi Zhang +1
Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as the…
Adversarial Discriminative Sim-to-real Transfer of Visuo-motor Policies
Fangyi Zhang, Jürgen Leitner, Zongyuan Ge +2
Various approaches have been proposed to learn visuo-motor policies for real-world robotic applications. One solution is first learning in simulation then transferring to the real…
Tuning Modular Networks with Weighted Losses for Hand-Eye Coordination
Fangyi Zhang, Jürgen Leitner, Michael Milford +1
This paper introduces an end-to-end fine-tuning method to improve hand-eye coordination in modular deep visuo-motor policies (modular networks) where each module is trained indepen…
Modular Deep Q Networks for Sim-to-real Transfer of Visuo-motor Policies
Fangyi Zhang, Jürgen Leitner, Michael Milford +1
While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning ca…
The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research
Jürgen Leitner, Adam W. Tow, Jake E. Dean +15
Robotic challenges like the Amazon Picking Challenge (APC) or the DARPA Challenges are an established and important way to drive scientific progress. They make research comparable…