67 citations · 224 across the 33 of their papers we have counts for
6 papers · 2 filters
Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges
Noémie Jaquier, Michael C. Welle, Andrej Gams +6
Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situat…
A Structured Prediction Approach for Robot Imitation Learning
Anqing Duan, Iason Batzianoulis, Raffaello Camoriano +3
We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observe…
Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions
Yiting Chen, Xiao Gao, Kunpeng Yao +3
In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our pro…
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation
Xiao Gao, Kunpeng Yao, Farshad Khadivar +1
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers…
Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics
Lukas Huber, Jean-Jacques Slotine, Aude Billard
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we intr…
Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects
Kunpeng Yao, Aude Billard
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF r…