4 papers
Multimodal Fusion for Sim2real Transfer in Visual Reinforcement Learning
Zichun Xu, Jingdong Zhao, Chenyu Guo +6
Depth information is robust to scene appearance variations and inherently carries 3D spatial details. Thus, a visual backbone based on the vision transformer is proposed to fuse RG…
A Visual Reinforcement Learning-Based Separate Primitive Policy for Peg-in-Hole Tasks
Zichun Xu, Zhaomin Wang, Yuntao Li +4
For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this beha…
Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator
Zichun Xu, Yuntao Li, Xiaohang Yang +3
This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three represen…
Transformer-Enhanced Motion Planner: Attention-Guided Sampling for State-Specific Decision Making
Lei Zhuang, Jingdong Zhao, Yuntao Li +3
Sampling-based motion planning (SBMP) algorithms are renowned for their robust global search capabilities. However, the inherent randomness in their sampling mechanisms often resul…