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cs.RO2024
Bayesian optimization for robust robotic grasping using a sensorized compliant hand
Juan G. Lechuz-Sierra, Ana Elvira H. Martin, Ashok M. Sundaram +2
One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as incre…
cs.RO2024
A context-adaptive policy framework for robust and reactive robotic manipulation via uncertainty-aware imitation learning
Tim R. Winter, Leonard Klüpfel, Ashok M. Sundaram +4
Generating robust and reactive manipulation strategies that can adapt to changing context information is a challenging task in robotics. Over the years, Learning from Demonstration…
cs.RO2024
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…