3 papers
cs.RO2023
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…
cs.RO2023
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…
cs.RO2022
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-…