5 papers · 1 filter
Learning Controlled Separation of Small Objects Between Two Fingers with a Tactile Skin
Ulf Kasolowsky, Berthold Bäuml
We introduce and solve the novel task of controlled separation of small objects with two fingers of a multi-purpose robotic hand: after grasping into a box of small objects, the ta…
Denoising Particle Filters: Learning State Estimation with Single-Step Objectives
Lennart Röstel, Berthold Bäuml
Learning-based methods commonly treat state estimation in robotics as a sequence modeling problem. While this paradigm can be effective at maximizing end-to-end performance, models…
Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand
Matthias Humt, Dominik Winkelbauer, Ulrich Hillenbrand +1
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, es…
Fine Manipulation Using a Tactile Skin: Learning in Simulation and Sim-to-Real Transfer
Ulf Kasolowsky, Berthold Bäuml
We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactil…
A Learning-based Controller for Multi-Contact Grasps on Unknown Objects with a Dexterous Hand
Dominik Winkelbauer, Rudolph Triebel, Berthold Bäuml
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbit…