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cs.RO2026
Non-Prehensile Throwing: A Reinforcement Learning Perspective
Abdullah Mustafa, Ryo Hanai, Ixchel G. Ramirez-Alpizar +4
Robotic throwing enables fast object transport and extends a robot's reachable workspace beyond traditional pick-and-place. While prehensile (grasp-based) throwing works well for g…
cs.RO2026
Learning to Predict Contact Force Distributions from Vision Leveraging Object Geometry Priors
Ryo Hanai, Yukiyasu Domaea, Ixchel G. Ramirez-Alpizar +3
Based on vision and prior experience, humans can make rough physical predictions and adjust their manipulation strategies. This paper aims to endow robots with a similar ability. T…
cs.RO2024
Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models
Abdullah Mustafa, Ryo Hanai, Ixchel Ramirez +4
Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control.…