64 citations · 85 across the 9 of their papers we have counts for
9 papers · 1 filter
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…
Learning Generalizable Pivoting Skills
Xiang Zhang, Siddarth Jain, Baichuan Huang +2
The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases w…
Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks
Changhao Wang, Yuyou Zhang, Xiang Zhang +5
Manipulating deformable linear objects by robots has a wide range of applications, e.g., manufacturing and medical surgery. To complete such tasks, an accurate dynamics model for p…
Safe Online Gain Optimization for Variable Impedance Control
Changhao Wang, Zhian Kuang, Xiang Zhang +1
Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-dampin…
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks
Xiang Zhang, Shiyu Jin, Changhao Wang +2
This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitive is a sequence of elementary actions with certain exit c…
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks
Xiang Zhang, Liting Sun, Zhian Kuang +1
Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and enviro…
Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators
Zhian Kuang, Xiang Zhang, Liting Sun +2
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most m…
Action Representations in Robotics: A Taxonomy and Systematic Classification
Philipp Zech, Erwan Renaudo, Simon Haller +2
Understanding and defining the meaning of "action" is substantial for robotics research. This becomes utterly evident when aiming at equipping autonomous robots with robust manipul…
Learning Movement Assessment Primitives for Force Interaction Skills
Xiang Zhang, Athanasios S. Polydoros, Justus Piater
We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g.\ for applications such as quality control in in…