Oluwatosin OluwaPelumi Oseni — accepted AI-conference papers

2024

DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands

Fengbo Lan, Shengjie Wang, Yunzhe Zhang, Haotian Xu, Oluwatosin OluwaPelumi Oseni, Ziye Zhang +2

CoRL 2024poster

Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared with pick-and-place, throwing-catching behavior has the potential to increase the speed of transporting objects to thei…

Cited by 4 Source ↗Scholar ↗

2023

A Policy Optimization Method Towards Optimal-time Stability

Shengjie Wang, Lan Fengb, Xiang Zheng, Yuxue Cao, Oluwatosin OluwaPelumi Oseni, Haotian Xu +2

CoRL 2023poster

In current model-free reinforcement learning (RL) algorithms, stability criteria based on sampling methods are commonly utilized to guide policy optimization. However, these criteria only guarantee the infinite-time convergence of the system's state to an equilibrium point, which leads to sub-optima…

Cited by 3 Source ↗Scholar ↗