2 papers
cs.RO2024
Hierarchical Diffusion Policy: manipulation trajectory generation via contact guidance
Dexin Wang, Chunsheng Liu, Faliang Chang +1
Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and…
cs.RO2023
Multi-Stage Reinforcement Learning for Non-Prehensile Manipulation
Dexin Wang, Faliang Chang, Chunsheng Liu
Manipulating objects without grasping them enables more complex tasks, known as non-prehensile manipulation. Most previous methods only learn one manipulation skill, such as reach…