3 accepted papers
Autonomous racing presents a complex environment requiring robust controllers capable of making rapid decisions under dynamic conditions. While traditional controllers based on tire models are reliable, they often demand extensive tuning or system identification. Reinforcement Learning (RL) methods
This paper introduces the task of Planar Robot Casting (PRC): where one planar motion of a robot arm holding one end of a cable causes the other end to slide across the plane toward a desired target. PRC allows the cable to reach points beyond the robot workspace and has applications for cable manag…
We explore how high-speed robot arm motions can dynamically manipulate ropes and cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a UR5 robot to perform these three tasks. The framew…