14 citations · 43 across the 6 of their papers we have counts for
6 papers
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang +4
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation task…
Regularized Nonlinear Regression with Dependent Errors and its Application to a Biomechanical Model
Hojun You, Kyubaek Yoon, Wei-Ying Wu +2
A biomechanical model often requires parameter estimation and selection in a known but complicated nonlinear function. Motivated by observing that data from a head-neck position tr…
Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning
Hyunwoo Ryu, Hong-in Lee, Jeong-Hoon Lee +1
End-to-end learning for visual robotic manipulation is known to suffer from sample inefficiency, requiring large numbers of demonstrations. The spatial roto-translation equivarianc…
Hierarchical Primitive Composition: Simultaneous Activation of Skills with Inconsistent Action Dimensions in Multiple Hierarchies
Jeong-Hoon Lee, Jongeun Choi
Deep reinforcement learning has shown its effectiveness in various applications, providing a promising direction for solving tasks with high complexity. However, naively applying c…
Regularized Nonlinear Regression for Simultaneously Selecting and Estimating Key Model Parameters
Kyubaek Yoon, Hojun You, Wei-Ying Wu +8
In system identification, estimating parameters of a model using limited observations results in poor identifiability. To cope with this issue, we propose a new method to simultane…
Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
Dong Eui Chang, Karmvir Singh Phogat, Jongeun Choi
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Eucl…