4 papers
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
Latent Diffeomorphic Co-Design of End-Effectors for Deformable and Fragile Object Manipulation
Kei Ikemura, Yifei Dong, Florian T. Pokorny
Manipulating deformable and fragile objects remains a fundamental challenge in robotics due to complex contact dynamics and strict requirements on object integrity. Existing approa…
Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning
Kei Ikemura, Yifei Dong, David Blanco-Mulero +3
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions…
AutoScale: Linear Scalarization Guided by Multi-Task Optimization Metrics
Yi Yang, Kei Ikemura, Qingwen Zhang +5
Recent multi-task learning studies suggest that linear scalarization, when using well-chosen fixed task weights, can achieve comparable to or even better performance than complex m…