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cs.RO2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer
Minchan Kim, Junhyek Han, Jaehyung Kim +1
We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate a…
cs.RO2023
Learning Whole-body Manipulation for Quadrupedal Robot
Seunghun Jeon, Moonkyu Jung, Suyoung Choi +2
We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy…
cs.RO2023
Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators
Dongwon Son, Beomjoon Kim
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax m…