52 citations · 59 across the 6 of their papers we have counts for
5 papers · 1 filter
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…
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…
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…