3 papers
cs.RO2024
GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping
Pengwei Xie, Siang Chen, Qianrun Chen +5
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks,…
cs.RO2024
Part-Guided 3D RL for Sim2Real Articulated Object Manipulation
Pengwei Xie, Rui Chen, Siang Chen +6
Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual afforda…
cs.RO2023
TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches
Liuyu Bian, Pengyang Shi, Weihang Chen +3
Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors t…