4 papers · 1 filter
Wearing A Coat: Dual-Arm Robot-Assisted Dressing with Differentiable Clothing Simulation
Yiming Liu, Lijun Han, Hesheng Wang
The development of assistive robots for dressing tasks serves to augment human convenience and improve the quality of life for individuals with physical impairments. However, due t…
A Shared Control Framework for Mobile Robots with Planning-Level Intention Prediction
Jinyu Zhang, Lijun Han, Feng Jian +2
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control fram…
Learning a General Model: Folding Clothing with Topological Dynamics
Yiming Liu, Lijun Han, Enlin Gu +1
The high degrees of freedom and complex structure of garments present significant challenges for clothing manipulation. In this paper, we propose a general topological dynamics mod…
Efficient Robot Skill Learning with Imitation from a Single Video for Contact-Rich Fabric Manipulation
Shengzeng Huo, Anqing Duan, Lijun Han +3
Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platform…