2 papers
cs.RO2024
Problem Space Transformations for Out-of-Distribution Generalisation in Behavioural Cloning
Kiran Doshi, Marco Bagatella, Stelian Coros
The combination of behavioural cloning and neural networks has driven significant progress in robotic manipulation. As these algorithms may require a large number of demonstrations…
cs.RO2023
On Hand-Held Grippers and the Morphological Gap in Human Manipulation Demonstration
Kiran Doshi, Yijiang Huang, Stelian Coros
Collecting manipulation demonstrations with robotic hardware is tedious - and thus difficult to scale. Recording data on robot hardware ensures that it is in the appropriate format…