4 papers · 1 filter
Differentiable Skill Optimisation for Powder Manipulation in Laboratory Automation
Minglun Wei, Xintong Yang, Yu-Kun Lai +1
Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularl…
SEA: Semantic Map Prediction for Active Exploration of Uncertain Areas
Hongyu Ding, Xinyue Liang, Yudong Fang +7
In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unl…
DDBot: Differentiable Physics-based Digging Robot for Unknown Granular Materials
Xintong Yang, Minglun Wei, Yu-Kun Lai +1
Automating the manipulation of granular materials poses significant challenges due to complex contact dynamics, unpredictable material properties, and intricate system states. Exis…
Differentiable Physics-based System Identification for Robotic Manipulation of Elastoplastic Materials
Xintong Yang, Ze Ji, Yu-Kun Lai
Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficult…