3 papers
cs.RO2022
Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives
Chunyang Chang, Kevin Haninger, Yunlei Shi +3
Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not b…
cs.RO2021
Combining Learning from Demonstration with Learning by Exploration to Facilitate Contact-Rich Tasks
Yunlei Shi, Zhaopeng Chen, Yansong Wu +5
Collaborative robots are expected to be able to work alongside humans and in some cases directly replace existing human workers, thus effectively responding to rapid assembly line…
cs.RO2020
Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot
Yunlei Shi, Zhaopeng Chen, Hongxu Liu +5
Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control metho…