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 …
A review of physics simulators for robotic applications
The use of simulators in robotics research is widespread, underpinning the majority of recent
advances in the field. There are now more options available to researchers than ever before …
advances in the field. There are now more options available to researchers than ever before …
[HTML][HTML] A review on reinforcement learning for contact-rich robotic manipulation tasks
Í Elguea-Aguinaco, A Serrano-Muñoz… - Robotics and Computer …, 2023 - Elsevier
Research and application of reinforcement learning in robotics for contact-rich manipulation
tasks have exploded in recent years. Its ability to cope with unstructured environments and …
tasks have exploded in recent years. Its ability to cope with unstructured environments and …
Challenges and outlook in robotic manipulation of deformable objects
Deformable object manipulation (DOM) is an emerging research problem in robotics. The
ability to manipulate deformable objects endows robots with higher autonomy and promises …
ability to manipulate deformable objects endows robots with higher autonomy and promises …
[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 …
Fabricflownet: Bimanual cloth manipulation with a flow-based policy
We address the problem of goal-directed cloth manipulation, a challenging task due to the
deformability of cloth. Our insight is that optical flow, a technique normally used for motion …
deformability of cloth. Our insight is that optical flow, a technique normally used for motion …
Speedfolding: Learning efficient bimanual folding of garments
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation
due to the complex dynamics and high dimensional configuration space of garments. An …
due to the complex dynamics and high dimensional configuration space of garments. An …
Cloth funnels: Canonicalized-alignment for multi-purpose garment manipulation
Automating garment manipulation is challenging due to extremely high variability in object
configurations. To reduce this intrinsic variation, we introduce the task of “canonicalized …
configurations. To reduce this intrinsic variation, we introduce the task of “canonicalized …
Keypoint-based planar bimanual shaping of deformable linear objects under environmental constraints with hierarchical action framework
This letter addresses the problem of contact-based manipulation of deformable linear
objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the …
objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the …
Goal-aware generative adversarial imitation learning from imperfect demonstration for robotic cloth manipulation
Y Tsurumine, T Matsubara - Robotics and Autonomous Systems, 2022 - Elsevier
Abstract Generative Adversarial Imitation Learning (GAIL) can learn policies without
explicitly defining the reward function from demonstrations. GAIL has the potential to learn …
explicitly defining the reward function from demonstrations. GAIL has the potential to learn …