From the 1 of 5 linked papers with an AI index.
4 papers
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4
The paper introduces a hierarchical whole-body control framework for quadrupedal robots with a 6‑DoF arm, using a Kinematic Normalizing Flow to generate partial reference motions a…
Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation
Zhe Zhao, Zhibin Li, Yilin Ou +1
Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities but remain difficult to train the control policies that can deploy on real hardware due…
Learning Dynamic Pick-and-Place for a Legged Manipulator
Moonkyu Jung, Jiseong Lee, Zhengmao He +8
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while…
Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation
Zhe Zhao, Haoyu Dong, Zhengmao He +3
Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains diffic…