4 papers
SimTO: A two-stage, simulation-driven topology optimization framework for bespoke soft robotic grippers
Kurt Enkera, Josh Pinskier, Marcus Gallagher +1
Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing designs struggle to grasp f…
RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment
Humphrey Munn, Brendan Tidd, Peter Bohm +2
Deploying learned control policies is risky because policies that appear robust in simulation can confidently enter out-of-distribution (OOD) states after Sim-to-Real transfer, cau…
Scalable Multi-Objective Robot Reinforcement Learning through Gradient Conflict Resolution
Humphrey Munn, Brendan Tidd, Peter Böhm +2
Reinforcement Learning (RL) robot controllers usually aggregate many task objectives into one scalar reward. While large-scale proximal policy optimisation (PPO) has enabled impres…
Whole-Body Dynamic Throwing with Legged Manipulators
Humphrey Munn, Brendan Tidd, Peter Böhm +2
Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions. Most research focuses on either man…