262 citations · 430 across the 32 of their papers we have counts for
3 papers · 1 filter
Joint Space Control via Deep Reinforcement Learning
Visak Kumar, David Hoeller, Balakumar Sundaralingam +2
The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint…
In-Hand Object-Dynamics Inference using Tactile Fingertips
Balakumar Sundaralingam, Tucker Hermans
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial…
Benchmarking In-Hand Manipulation
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang +3
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose…