A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control

22 May 2018

Papers citing "A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control"

39 / 39 papers shown

Title
SharedAssembly: A Data Collection Approach via Shared Tele-Assembly Yansong Wu Xiao Chen Yu Chen Hamid Sadeghian Fan Wu Zhenshan Bing Sami Haddadin Alexander König Alois C. Knoll 58 0 0 15 Mar 2025
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation Yansong Wu Zongxie Chen Fan Wu L. Chen Liding Zhang Zhenshan Bing Abdalla Swikir Sami Haddadin Sami Haddadin 69 10 0 17 Sep 2024
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism Sonja Groß Michael Ratzel Edgar Welte Diego Hidalgo-Carvajal L. Chen Edmundo Pozo Fortunić Amartya Ganguly Abdalla Swikir Sami Haddadin 25 0 0 05 Aug 2024
MuTT: A Multimodal Trajectory Transformer for Robot Skills Claudius Kienle Benjamin Alt Onur Celik P. Becker Darko Katic Rainer Jäkel Gerhard Neumann 38 2 0 22 Jul 2024
HACMan++: Spatially-Grounded Motion Primitives for Manipulation Bowen Jiang Yilin Wu Wenxuan Zhou Chris Paxton David Held 43 2 0 11 Jul 2024
A Practical Roadmap to Learning from Demonstration for Robotic Manipulators in Manufacturing Alireza Barekatain Hamed Habibi Holger Voos 34 3 0 11 Jun 2024
Cognitive Manipulation: Semi-supervised Visual Representation and Classroom-to-real Reinforcement Learning for Assembly in Semi-structured Environments Chuang Wang Lie Yang Ze Lin Yizhi Liao Gang Chen Longhan Xie 32 1 0 01 Jun 2024
POMDP-Guided Active Force-Based Search for Robotic Insertion Chen Wang Haoxiang Luo Kun Zhang Hua Chen Jia Pan Wei Zhang 30 4 0 05 Apr 2024
Bayesian Optimization for Sample-Efficient Policy Improvement in Robotic Manipulation Adrian Rofer Iman Nematollahi Tim Welschehold Wolfram Burgard Abhinav Valada 34 0 0 21 Mar 2024
A Contact Model based on Denoising Diffusion to Learn Variable Impedance Control for Contact-rich Manipulation Masashi Okada Mayumi Komatsu Tadahiro Taniguchi DiffM 40 0 0 20 Mar 2024
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints Kejia Chen Zhenshan Bing Yansong Wu Fan Wu Liding Zhang Sami Haddadin Alois Knoll 17 2 0 30 Jan 2024
A Simple Yet Effective Strategy to Robustify the Meta Learning Paradigm Qi Wang Yiqin Lv Yanghe Feng Zheng Xie Jincai Huang 21 9 0 01 Oct 2023
Learning Compliant Stiffness by Impedance Control-Aware Task Segmentation and Multi-objective Bayesian Optimization with Priors Masashi Okada Mayumi Komatsu Ryogo Okumura T. Taniguchi 36 4 0 28 Jul 2023
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures Ke Chen Zhenshan Bing Fan Wu Yuan Meng André Kraft Sami Haddadin Alois Knoll 39 5 0 19 Jul 2023
Adaptive Compliant Robot Control with Failure Recovery for Object Press-Fitting Ekansh Sharma C. Henke Alex Mitrevski Paul G. Plöger 37 1 0 17 Jul 2023
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly N. Vuong Quang Pham 30 0 0 11 Jun 2023
The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing Leonel Rozo A. Kupcsik Philipp Schillinger Meng Guo R. Krug ... Patrick Kesper Sabrina Hoppe Hanna Ziesche M. Burger Kai O. Arras 38 5 0 20 Apr 2023
Learning Human-Inspired Force Strategies for Robotic Assembly Stefanie Scherzinger A. Roennau Rüdiger Dillmann 16 5 0 22 Mar 2023
Seq2Seq Imitation Learning for Tactile Feedback-based Manipulation Wenyan Yang A. Angleraud R. Pieters Joni Pajarinen Joni-Kristian Kämäräinen 37 6 0 05 Mar 2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer Allen Z. Ren Hongkai Dai Benjamin Burchfiel Anirudha Majumdar 27 14 0 09 Feb 2023
Fine Robotic Manipulation without Force/Torque Sensor Shilin Shan Quang Pham 17 3 0 31 Jan 2023
Zero-Shot Transfer of Haptics-Based Object Insertion Policies Samarth Brahmbhatt A. Deka Andrew Spielberg M. Muller 9 6 0 29 Jan 2023
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks Zheng Wu Wenzhao Lian Changhao Wang Mengxi Li S. Schaal Masayoshi Tomizuka 6 10 0 02 Dec 2022
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics J. Ringwald Samuel Schneider Lingyun Chen Dennis Knobbe Lars Johannsmeier Abdalla Swikir Sami Haddadin 29 7 0 18 Oct 2022
Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration Mariano Ramírez Montero Giovanni Franzese Jeroen Zwanepol Jens Kober 19 2 0 23 Sep 2022
CFVS: Coarse-to-Fine Visual Servoing for 6-DoF Object-Agnostic Peg-In-Hole Assembly B. Lu Tung-I Chen Hsin-Ying Lee Winston H. Hsu 38 10 0 19 Sep 2022
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks Toki Migimatsu Wenzhao Lian Jeannette Bohg S. Schaal 37 10 0 04 Mar 2022
Safe Online Gain Optimization for Variable Impedance Control Changhao Wang Zhian Kuang Xiang Zhang Masayoshi Tomizuka 14 1 0 01 Nov 2021
Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space Maximilian Ulmer Elie Aljalbout Sascha Schwarz Sami Haddadin 18 6 0 19 Oct 2021
Learning Forceful Manipulation Skills from Multi-modal Human Demonstrations An T. Le Meng Guo Niels van Duijkeren Leonel Rozo R. Krug A. Kupcsik Mathias Buerger 33 18 0 09 Sep 2021
Residual Feedback Learning for Contact-Rich Manipulation Tasks with Uncertainty A. Ranjbar Ngo Anh Vien Hanna Ziesche Joschka Boedecker Gerhard Neumann 24 10 0 08 Jun 2021
Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties Shiyu Jin Xinghao Zhu Changhao Wang Masayoshi Tomizuka 11 21 0 29 Jan 2021
Learning Sequences of Manipulation Primitives for Robotic Assembly N. Vuong H. Pham Quang Pham 8 26 0 02 Nov 2020
Uncertainty-aware Contact-safe Model-based Reinforcement Learning Cheng-Yu Kuo Andreas Schaarschmidt Yunduan Cui Tamim Asfour Takamitsu Matsubara 11 17 0 16 Oct 2020
Variable impedance control and learning -- A review Fares J. Abu-Dakka Matteo Saveriano AI4CE 39 147 0 13 Oct 2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan D. Ratliff Animesh Garg Fabio Ramos Dieter Fox 23 60 0 21 May 2020
Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots C. C. Beltran-Hernandez Damien Petit I. Ramirez-Alpizar T. Nishi S. Kikuchi Takamitsu Matsubara Kensuke Harada 22 2 0 02 Mar 2020
Contact-less manipulation of millimeter-scale objects via ultrasonic levitation Jared Nakahara Boling Yang Joshua R. Smith 19 17 0 20 Feb 2020
A Practical Approach to Insertion with Variable Socket Position Using Deep Reinforcement Learning Mel Vecerík Oleg O. Sushkov David Barker Thomas Rothörl Todd Hester Jonathan Scholz 19 110 0 02 Oct 2018