269 citations · 2k across the 61 of their papers we have counts for
8 papers · 1 filter
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks
Zheng Wu, Wenzhao Lian, Changhao Wang +3
Learning generalizable insertion skills in a data-efficient manner has long been a challenge in the robot learning community. While the current state-of-the-art methods with reinfo…
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning
Zheng Wu, Yichen Xie, Wenzhao Lian +5
Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaptio…
A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies
Simon Stepputtis, Maryam Bandari, Stefan Schaal +1
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich…
Detection and Physical Interaction with Deformable Linear Objects
Azarakhsh Keipour, Mohammadreza Mousaei, Maryam Bandari +2
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with…
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks
Toki Migimatsu, Wenzhao Lian, Jeannette Bohg +1
Manipulation tasks often require a robot to adjust its sensorimotor skills based on the state it finds itself in. Taking peg-in-hole as an example: once the peg is aligned with the…
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation
Azarakhsh Keipour, Maryam Bandari, Stefan Schaal
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched re…
Deformable One-Dimensional Object Detection for Routing and Manipulation
Azarakhsh Keipour, Maryam Bandari, Stefan Schaal
Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the ex…
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
Bowen Wen, Wenzhao Lian, Kostas Bekris +1
Promising results have been achieved recently in category-level manipulation that generalizes across object instances. Nevertheless, it often requires expensive real-world data col…