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cs.RO2023
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning
Liyiming Ke, Yunchu Zhang, Abhay Deshpande +2
We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing…
cs.RO2023★ 1 cited
Cherry-Picking with Reinforcement Learning : Robust Dynamic Grasping in Unstable Conditions
Yunchu Zhang, Liyiming Ke, Abhay Deshpande +2
Grasping small objects surrounded by unstable or non-rigid material plays a crucial role in applications such as surgery, harvesting, construction, disaster recovery, and assisted…