6 papers · 1 filter
Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks
Carl Glen Henshaw
Contact-rich robotic manipulation requires an accurate model of the kinematic relationship between a robot's joints and the task features it senses. This relationship is rarely kno…
Autonomous Reinforcement Learning Robot Control with Intel's Loihi 2 Neuromorphic Hardware
Kenneth Stewart, Roxana Leontie, Samantha Chapin +3
We present an end-to-end pipeline for deploying reinforcement learning (RL) trained Artificial Neural Networks (ANNs) on neuromorphic hardware by converting them into spiking Sigma…
Crossing the Sim2Real Gap Between Simulation and Ground Testing to Space Deployment of Autonomous Free-flyer Control
Kenneth Stewart, Samantha Chapin, Roxana Leontie +1
Reinforcement learning (RL) offers transformative potential for robotic control in space. We present the first on-orbit demonstration of RL-based autonomous control of a free-flyin…
Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) International Space Station Astrobee Testing
Samantha Chapin, Kenneth Stewart, Roxana Leontie +1
The US Naval Research Laboratory's (NRL's) Autonomous Planning In-space Assembly Reinforcement-learning free-flYer (APIARY) experiment pioneers the use of reinforcement learning (R…
Deep Learning for Koopman-based Dynamic Movement Primitives
Tyler Han, Carl Glen Henshaw
The challenge of teaching robots to perform dexterous manipulation, dynamic locomotion, or whole--body manipulation from a small number of demonstrations is an important research f…
Collision-Free Inverse Kinematics Through QP Optimization (iKinQP)
Julia Ashkanazy, Ariana Spalter, Joe Hays +3
Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulat…