4 citations · 12 across the 9 of their papers we have counts for
9 papers
Multimodal Fusion for Sim2real Transfer in Visual Reinforcement Learning
Zichun Xu, Jingdong Zhao, Chenyu Guo +6
Depth information is robust to scene appearance variations and inherently carries 3D spatial details. Thus, a visual backbone based on the vision transformer is proposed to fuse RG…
A Visual Reinforcement Learning-Based Separate Primitive Policy for Peg-in-Hole Tasks
Zichun Xu, Zhaomin Wang, Yuntao Li +4
For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this beha…
Transformer-Enhanced Motion Planner: Attention-Guided Sampling for State-Specific Decision Making
Lei Zhuang, Jingdong Zhao, Yuntao Li +3
Sampling-based motion planning (SBMP) algorithms are renowned for their robust global search capabilities. However, the inherent randomness in their sampling mechanisms often resul…
Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator
Zichun Xu, Yuntao Li, Xiaohang Yang +3
This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three represen…
PetLock:A Genderless and Standard Interface for the Future On-orbit Construction
Yuntao Li, Zichun Xu, Xiaohang Yang +3
Modular design is the foundation of on orbit construction technology of large space facilities in the future.Standard interface is the key technology of modular design of the futur…
A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization
Zichun Xu, Yuntao Li, Xiaohang Yang +3
Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence…
i-MYO: A Hybrid Prosthetic Hand Control System based on Eye-tracking, Augmented Reality and Myoelectric signal
Chunyuan Shi, Dapeng Yang, Jingdong Zhao +1
Dexterous prosthetic hands have better grasp performance than traditional ones. However, patients still find it difficult to use these hands without a suitable control system. A ne…
i-GSI: A Fast and Reliable Grasp-type Switching Interface based on Augmented Reality and Eye-tracking
Chunyuan Shi, Dapeng Yang, Siyang Qiu +1
The control of multi-fingered dexterous prosthetics hand remains challenging due to the lack of an intuitive and efficient Grasp-type Switching Interface (GSI). We propose a new GS…
Collision-Free Kinematics for Redundant Manipulators in Dynamic Scenes using Optimal Reciprocal Velocity Obstacles
Liangliang Zhao, Jingdong Zhao, Hong Liu +1
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously hand…