52 citations · 59 across the 6 of their papers we have counts for
7 papers
PCHands: PCA-based Hand Pose Synergy Representation on Manipulators with N-DoF
En Yen Puang, Federico Ceola, Giulia Pasquale +1
We consider the problem of learning a common representation for dexterous manipulation across manipulators of different morphologies. To this end, we propose PCHands, a novel appro…
Learning Stable Robot Grasping with Transformer-based Tactile Control Policies
En Yen Puang, Zechen Li, Chee Meng Chew +2
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have t…
Hierarchical Point Cloud Encoding and Decoding with Lightweight Self-Attention based Model
En Yen Puang, Hao Zhang, Hongyuan Zhu +1
In this paper we present SA-CNN, a hierarchical and lightweight self-attention based encoding and decoding architecture for representation learning of point cloud data. The propose…
End-to-end Reinforcement Learning of Robotic Manipulation with Robust Keypoints Representation
Tianying Wang, En Yen Puang, Marcus Lee +2
We present an end-to-end Reinforcement Learning(RL) framework for robotic manipulation tasks, using a robust and efficient keypoints representation. The proposed method learns keyp…
KOVIS: Keypoint-based Visual Servoing with Zero-Shot Sim-to-Real Transfer for Robotics Manipulation
En Yen Puang, Keng Peng Tee, Wei Jing
We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neura…
Multi-path Learning for Object Pose Estimation Across Domains
Martin Sundermeyer, Maximilian Durner, En Yen Puang +4
We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. We learn an encoding of object views that does not only d…
Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench
Max Schwarz, David Droeschel, Christian Lenz +7
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state-of-the-art in autonomous operation of ground-based an…