2 papers
cs.RO2025
PCHands: PCA-based Hand Pose Synergy Representation on Manipulators with N-DoF
En Yen Puang, Federico Ceola, Giulia Pasquale +1
We consider the problem of learning a common representation for dexterous manipulation across manipulators of different morphologies. To this end, we propose PCHands, a novel appro…
cs.RO2024
Learning Stable Robot Grasping with Transformer-based Tactile Control Policies
En Yen Puang, Zechen Li, Chee Meng Chew +2
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have t…