47 citations · 97 across the 9 of their papers we have counts for
18 papers
Orientation Control with Variable Stiffness Dynamical Systems
Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka +1
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional t…
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features
Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki
Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interac…
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation
David Blanco-Mulero, Gokhan Alcan, Fares J. Abu-Dakka +1
Pre-defined manipulation primitives are widely used for cloth manipulation. However, cloth properties such as its stiffness or density can highly impact the performance of these pr…
Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming
Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this wo…
Learning Deep Robotic Skills on Riemannian manifolds
Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka
In this paper, we propose RiemannianFlow, a deep generative model that allows robots to learn complex and stable skills evolving on Riemannian manifolds. Examples of Riemannian dat…
Geometric Reinforcement Learning For Robotic Manipulation
Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc +3
Reinforcement learning (RL) is a popular technique that allows an agent to learn by trial and error while interacting with a dynamic environment. The traditional Reinforcement Lear…