4 papers · 1 filter
DexRepNet++: Learning Dexterous Robotic Manipulation with Geometric and Spatial Hand-Object Representations
Qingtao Liu, Zhengnan Sun, Yu Cui +5
Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement…
Orientation Learning and Adaptation towards Simultaneous Incorporation of Multiple Local Constraints
Gaofeng Li, Peisen Xu, Ruize Wang +4
Orientation learning plays a pivotal role in many tasks. However, the rotation group SO(3) is a Riemannian manifold. As a result, the distortion caused by non-Euclidean geometric n…
The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey
Gaofeng Li, Ruize Wang, Peisen Xu +2
Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid pr…
Motion planning for highly-dynamic unconditioned reflexes based on chained Signed Distance Functions
Ken Lin, Qi Ye, Tin Lun Lam +3
The unconditioned reflex (e.g., protective reflex), which is the innate reaction of the organism and usually performed through the spinal cord rather than the brain, can enable org…