1 citations · 1 across the 5 of their papers we have counts for
5 papers
MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
Xi Huang, Hongyi Zhou, Ge Li +5
We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and…
Planning with Learned Subgoals Selected by Temporal Information
Xi Huang, Gergely Sóti, Christoph Ledermann +2
Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spati…
dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes
Gergely Sóti, Xi Huang, Christian Wurll +1
We present dGrasp, an implicit grasp policy with an enhanced optimization landscape. This landscape is defined by a NeRF-informed grasp value function. The neural network represent…
6-DoF Grasp Pose Evaluation and Optimization via Transfer Learning from NeRFs
Gergely Sóti, Xi Huang, Christian Wurll +1
We address the problem of robotic grasping of known and unknown objects using implicit behavior cloning. We train a grasp evaluation model from a small number of demonstrations tha…
Gradient based Grasp Pose Optimization on a NeRF that Approximates Grasp Success
Gergely Sóti, Björn Hein, Christian Wurll
Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In…