14 citations · 14 across the 5 of their papers we have counts for
7 papers
Rapid On-Robot Learning for Dynamic Manipulation Skills: Robot Juggling
Taeyoon Lee, Chunpeng Wang, Christopher G. Atkeson +2
We present an online learning framework that enables a bimanual robot to acquire diverse juggling patterns directly on physical hardware within minutes, even with a significant sim…
A Backbone for Long-Horizon Robot Task Understanding
Xiaoshuai Chen, Wei Chen, Dongmyoung Lee +3
End-to-end robot learning, particularly for long-horizon tasks, often results in unpredictable outcomes and poor generalization. To address these challenges, we propose a novel The…
Cosserat Rod Modeling and Validation for a Soft Continuum Robot with Self-Controllable Variable Curvature
Xinran Wang, Nicolas Rojas
This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner…
Synthetic data enables faster annotation and robust segmentation for multi-object grasping in clutter
Dongmyoung Lee, Wei Chen, Nicolas Rojas
Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially cos…
TraKDis: A Transformer-based Knowledge Distillation Approach for Visual Reinforcement Learning with Application to Cloth Manipulation
Wei Chen, Nicolas Rojas
Approaching robotic cloth manipulation using reinforcement learning based on visual feedback is appealing as robot perception and control can be learned simultaneously. However, ma…
G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +1
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to…