Enhancing dexterity in robotic manipulation via hierarchical contact exploration
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts,
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …
Pre-and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer
M Kim, J Han, J Kim, B Kim - 2023 IEEE/RSJ International …, 2023 - ieeexplore.ieee.org
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 …
contact mode transitions and the use of environmental contacts to successfully manipulate …
Motion planning as online learning: A multi-armed bandit approach to kinodynamic sampling-based planning
M Faroni, D Berenson - IEEE Robotics and Automation Letters, 2023 - ieeexplore.ieee.org
Kinodynamic motion planners allow robots to perform complex manipulation tasks under
dynamics constraints or with black-box models. However, they struggle to find high-quality …
dynamics constraints or with black-box models. However, they struggle to find high-quality …
HACMan: Learning hybrid actor-critic maps for 6D non-prehensile manipulation
Manipulating objects without grasping them is an essential component of human dexterity,
referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more …
referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more …
CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects
Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or
otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in …
otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in …
Object manipulation through contact configuration regulation: multiple and intermittent contacts
In this work, we build on our method for manipulating unknown objects via contact
configuration regulation: the estimation and control of the location, geometry, and mode of …
configuration regulation: the estimation and control of the location, geometry, and mode of …
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
Dexterous robotic manipulation remains a challenging domain due to its strict demands for
precision and robustness on both hardware and software. While dexterous robotic hands …
precision and robustness on both hardware and software. While dexterous robotic hands …
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models
M Faroni, D Berenson - arXiv preprint arXiv:2403.07638, 2024 - arxiv.org
Robotic manipulation relies on analytical or learned models to simulate the system
dynamics. These models are often inaccurate and based on offline information, so that the …
dynamics. These models are often inaccurate and based on offline information, so that the …