相关论文: Grasping Force Control and Adaptation for a Cable-…

Vision-Language-Action (VLA) models have demonstrated significant potential for generalist robotic policies; however, they struggle to generalize to long-horizon complex tasks in novel real-world domains due to distribution shifts and the…

We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus…

This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…

Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and distal mechanics. Existing solutions typically rely on distal…

Conventional reinforcement learning (RL) ap proaches often struggle to learn effective policies under sparse reward conditions, necessitating the manual design of complex, task-specific reward functions. To address this limitation, rein…

In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…

Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…

Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder policy acquisition. Existing soft end-effectors face fundamental…

This paper presents a feedback-control framework for in-hand manipulation (IHM) with dexterous soft hands that enables the acquisition of manipulation skills in the real-world within minutes. We choose the deformation state of the soft hand…

This paper introduces a framework to plan grasps with multi-fingered hands. The framework includes a multi-dimensional iterative surface fitting (MDISF) for grasp planning and a grasp trajectory optimization (GTO) for grasp imagination. The…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…

Vision-language-action (VLA) models have recently emerged as a promising paradigm for robotic control, enabling end-to-end policies that ground natural language instructions into visuomotor actions. However, current VLAs often struggle to…

Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…

Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…

Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…

Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between…

This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up…