2 papers
cs.RO2024
Learning Goal-Directed Object Pushing in Cluttered Scenes With Location-Based Attention
Nils Dengler, Juan Del Aguila Ferrandis, João Moura +2
In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-p…
cs.RO2023
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics…