30 citations · 31 across the 8 of their papers we have counts for
8 papers
i-Octree: A Fast, Lightweight, and Dynamic Octree for Proximity Search
Jun Zhu, Hongyi Li, Zhepeng Wang +2
Establishing the correspondences between newly acquired points and historically accumulated data (i.e., map) through nearest neighbors search is crucial in numerous robotic applica…
Toward Evaluating Robustness of Reinforcement Learning with Adversarial Policy
Xiang Zheng, Xingjun Ma, Shengjie Wang +3
Reinforcement learning agents are susceptible to evasion attacks during deployment. In single-agent environments, these attacks can occur through imperceptible perturbations inject…
A Learning-based Adaptive Compliance Method for Symmetric Bi-manual Manipulation
Yuxue Cao, Wenbo Zhao, Shengjie Wang +4
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stabili…
Efficient Exploration Using Extra Safety Budget in Constrained Policy Optimization
Haotian Xu, Shengjie Wang, Zhaolei Wang +4
Reinforcement learning (RL) has achieved promising results on most robotic control tasks. Safety of learning-based controllers is an essential notion of ensuring the effectiveness…
A Policy Optimization Method Towards Optimal-time Stability
Shengjie Wang, Fengbo Lan, Xiang Zheng +5
In current model-free reinforcement learning (RL) algorithms, stability criteria based on sampling methods are commonly utilized to guide policy optimization. However, these criter…
Reinforcement Learning with Prior Policy Guidance for Motion Planning of Dual-Arm Free-Floating Space Robot
Yuxue Cao, Shengjie Wang, Xiang Zheng +3
Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in plannin…
A Learning System for Motion Planning of Free-Float Dual-Arm Space Manipulator towards Non-Cooperative Object
Shengjie Wang, Yuxue Cao, Xiang Zheng +1
Recent years have seen the emergence of non-cooperative objects in space, like failed satellites and space junk. These objects are usually operated or collected by free-float dual-…
Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning
Yuanpei Chen, Tianhao Wu, Shengjie Wang +8
Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through re…