4 papers
Cyborg Insect Factory: Automatic Assembly System to Build up Insect-computer Hybrid Robot Based on Vision-guided Robotic Arm Manipulation of Custom Bipolar Electrodes
Qifeng Lin, Nghia Vuong, Kewei Song +3
The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic a…
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly
Nghia Vuong, Quang-Cuong Pham
A common theme in robot assembly is the adoption of Manipulation Primitives as the atomic motion to compose assembly strategy, typically in the form of a state machine or a graph.…
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly
Nghia Vuong, Quang-Cuong Pham
In sim-to-real Reinforcement Learning (RL), a policy is trained in a simulated environment and then deployed on the physical system. The main challenge of sim-to-real RL is to over…
Learning Sequences of Manipulation Primitives for Robotic Assembly
Nghia Vuong, Hung Pham, Quang-Cuong Pham
This paper explores the idea that skillful assembly is best represented as dynamic sequences of Manipulation Primitives, and that such sequences can be automatically discovered by…