Henry Lu — accepted AI-conference papers

2015

Learning force-based manipulation of deformable objects from multiple demonstrations

Alex X. Lee, Henry Lu, Abhishek Gupta, Sergey Levine, Pieter Abbeel

ICRA 2015poster

Manipulation of deformable objects often requires a robot to apply specific forces to bring the object into the desired configuration. For instance, tightening a knot requires pulling on the ends, flattening an article of clothing requires smoothing out wrinkles, and erasing a whiteboard requires ap…

Cited by 185 Source ↗Scholar ↗

2015

Learning from multiple demonstrations using trajectory-aware non-rigid registration with applications to deformable object manipulation

Alex X. Lee, Abhishek Gupta, Henry Lu, Sergey Levine, Pieter Abbeel

IROS 2015poster

Learning from demonstration by means of non-rigid point cloud registration is an effective tool for learning to manipulate a wide range of deformable objects. However, most methods that use non-rigid registration to transfer demonstrated trajectories assume that the test and demonstration scene are…

Cited by 49 Source ↗Scholar ↗