4 papers
SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
Chenyu Yang, Denis Tarasov, Davide Liconti +3
Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions. Diffusion-ba…
Learning Soft Robotic Dynamics with Active Exploration
Hehui Zheng, Bhavya Sukhija, Chenhao Li +3
Soft robots offer unmatched adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control notoriousl…
Vision-Based Online Key Point Estimation of Deformable Robots
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan +2
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reco…
PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics
Jan Obrist, Miguel Zamora, Hehui Zheng +5
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in pa…