2 papers
cs.RO2024
Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training
Yuni Fuchioka, Cristian C. Beltran-Hernandez, Hai Nguyen +1
This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured e…
cs.RO2024
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist
Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez +1
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequenc…