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cs.RO2023
DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands
Fengbo Lan, Shengjie Wang, Yunzhe Zhang +5
Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared…
cs.RO2023
A Learning-based Adaptive Compliance Method for Symmetric Bi-manual Manipulation
Yuxue Cao, Wenbo Zhao, Shengjie Wang +4
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stabili…
cs.RO2023
Efficient Exploration Using Extra Safety Budget in Constrained Policy Optimization
Haotian Xu, Shengjie Wang, Zhaolei Wang +4
Reinforcement learning (RL) has achieved promising results on most robotic control tasks. Safety of learning-based controllers is an essential notion of ensuring the effectiveness…