Modeling, learning, perception, and control methods for deformable object manipulation
Perceiving and handling deformable objects is an integral part of everyday life for humans.
Automating tasks such as food handling, garment sorting, or assistive dressing requires …
Automating tasks such as food handling, garment sorting, or assistive dressing requires …
Research advances and challenges of autonomous and connected ground vehicles
Autonomous vehicle (AV) technology can provide a safe and convenient transportation
solution for the public, but the complex and various environments in the real world make it …
solution for the public, but the complex and various environments in the real world make it …
Learning to rearrange deformable cables, fabrics, and bags with goal-conditioned transporter networks
Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a
long-standing challenge in robotic manipulation. The complex dynamics and high …
long-standing challenge in robotic manipulation. The complex dynamics and high …
Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey
J Sanchez, JA Corrales… - … Journal of Robotics …, 2018 - journals.sagepub.com
We present a survey of recent work on robot manipulation and sensing of deformable
objects, a field with relevant applications in diverse industries such as medicine (eg surgical …
objects, a field with relevant applications in diverse industries such as medicine (eg surgical …
[HTML][HTML] Deep reinforcement learning with smooth policy update: Application to robotic cloth manipulation
Abstract Deep Reinforcement Learning (DRL), which can learn complex policies with high-
dimensional observations as inputs, eg, images, has been successfully applied to various …
dimensional observations as inputs, eg, images, has been successfully applied to various …
Deep imitation learning of sequential fabric smoothing from an algorithmic supervisor
Sequential pulling policies to flatten and smooth fabrics have applications from surgery to
manufacturing to home tasks such as bed making and folding clothes. Due to the complexity …
manufacturing to home tasks such as bed making and folding clothes. Due to the complexity …
Visuospatial foresight for multi-step, multi-task fabric manipulation
Robotic fabric manipulation has applications in home robotics, textiles, senior care and
surgery. Existing fabric manipulation techniques, however, are designed for specific tasks …
surgery. Existing fabric manipulation techniques, however, are designed for specific tasks …
Visuotactile affordances for cloth manipulation with local control
Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key
regions, such as corners, are not directly graspable, making manipulation difficult. We …
regions, such as corners, are not directly graspable, making manipulation difficult. We …
A brain-controlled exoskeleton with cascaded event-related desynchronization classifiers
This paper describes a brain–machine interface for the online control of a powered lower-
limb exoskeleton based on electroencephalogram (EEG) signals recorded over the user's …
limb exoskeleton based on electroencephalogram (EEG) signals recorded over the user's …
Folding clothes autonomously: A complete pipeline
This work presents a complete pipeline for folding a pile of clothes using a dual-armed robot.
This is a challenging task both from the viewpoint of machine vision and robotic …
This is a challenging task both from the viewpoint of machine vision and robotic …