1 citations · 2 across the 6 of their papers we have counts for
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Data-driven Kinematic Modeling in Soft Robots: System Identification and Uncertainty Quantification
Zhanhong Jiang, Dylan Shah, Hsin-Jung Yang +1
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To…
Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulation
Nitesh Subedi, Hsin-Jung Yang, Devesh K. Jha +1
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in…
Zero-shot Sim-to-Real Transfer for Reinforcement Learning-based Visual Servoing of Soft Continuum Arms
Hsin-Jung Yang, Mahsa Khosravi, Benjamin Walt +2
Soft continuum arms (SCAs) soft and deformable nature presents challenges in modeling and control due to their infinite degrees of freedom and non-linear behavior. This work introd…
Enhancing PPO with Trajectory-Aware Hybrid Policies
Qisai Liu, Zhanhong Jiang, Hsin-Jung Yang +3
Proximal policy optimization (PPO) is one of the most popular state-of-the-art on-policy algorithms that has become a standard baseline in modern reinforcement learning with applic…