8 citations · 23 across the 14 of their papers we have counts for
4 papers · 1 filter
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
Bowen Wen, Wenzhao Lian, Kostas Bekris +1
Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is ch…
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks
Wenzhao Lian, Tim Kelch, Dirk Holz +2
In recent years, many learning based approaches have been studied to realize robotic manipulation and assembly tasks, often including vision and force/tactile feedback. However, it…
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study
Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute +6
Over the past several years there has been a considerable research investment into learning-based approaches to industrial assembly, but despite significant progress these techniqu…
Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks
Peter A. Zachares, Michelle A. Lee, Wenzhao Lian +1
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely…