1 citations · 2 across the 6 of their papers we have counts for
3 papers · 1 filter
Learning to Infer Kinematic Hierarchies for Novel Object Instances
Hameed Abdul-Rashid, Miles Freeman, Ben Abbatematteo +2
Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled. Previous work has explored per-ceptio…
RMPs for Safe Impedance Control in Contact-Rich Manipulation
Seiji Shaw, Ben Abbatematteo, George Konidaris
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a…
Bootstrapping Motor Skill Learning with Motion Planning
Ben Abbatematteo, Eric Rosen, Stefanie Tellex +1
Learning a robot motor skill from scratch is impractically slow; so much so that in practice, learning must be bootstrapped using a good skill policy obtained from human demonstrat…