49 citations · 98 across the 4 of their papers we have counts for
6 papers
Polyhedral Friction Cone Estimator for Object Manipulation
Morteza Azad, Silvia Cruciani, Michael J. Mathew +2
A polyhedral friction cone is a set of reaction wrenches that an object can experience whilst in contact with its environment. This polyhedron is a powerful tool to control an obje…
Benchmarking In-Hand Manipulation
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang +3
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose…
Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs
Silvia Cruciani, Kaiyu Hang, Christian Smith +1
This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on whic…
Dexterous Manipulation Graphs
Silvia Cruciani, Christian Smith, Danica Kragic +1
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence…
Unlocking the Potential of Simulators: Design with RL in Mind
Rika Antonova, Silvia Cruciani
Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccur…
Reinforcement Learning for Pivoting Task
Rika Antonova, Silvia Cruciani, Christian Smith +1
In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successfu…