33 citations · 128 across the 19 of their papers we have counts for
4 papers · 1 filter
Benchmarking the Sim-to-Real Gap in Cloth Manipulation
David Blanco-Mulero, Oriol Barbany, Gokhan Alcan +3
Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation. By doing so, researchers can circumvent challenges such…
Fading Expert Guidance: Bridging Model-Based and Learning-Based Control for Abortable Autonomous Overtaking
Jinxiong Lu, Gokhan Alcan, Ville Kyrki
Overtaking on two-lane roads is a safety-critical decision-making problem for autonomous vehicles, since oncoming traffic may force the ego vehicle to abort and merge back to its o…
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation
David Blanco-Mulero, Gokhan Alcan, Fares J. Abu-Dakka +1
Pre-defined manipulation primitives are widely used for cloth manipulation. However, cloth properties such as its stiffness or density can highly impact the performance of these pr…
Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming
Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this wo…