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A Tutorial on Shape Servoing of Deformable Objects-Part II: Advanced Concepts
Ignacio Cuiral-Zueco, Alessio Caporali, Miguel Aranda +3
In robotics, shape control, or shape servoing, refers to the automatic manipulation of a deformable object toward a desired shape. This article is the second of a two-part tutorial…
A Tutorial on Shape Servoing of Deformable Objects-Part I: Fundamentals
Ignacio Cuiral-Zueco, Alessio Caporali, Miguel Aranda +3
In robotics, shape control (or shape servoing) refers to the automatic manipulation of a deformable object to achieve a desired shape. It involves a feedback loop that exploits the…
Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning
Davide Bargellini, Alex Pasquali, Andrea Govoni +2
Transferring reinforcement learning policies from simulation to Real-World robots remains a major challenge, particularly when dealing with low-level torque control, where even sma…