Xu Pu

Learning to Rock-and-Walk: Dynamic, Non-Prehensile, and Underactuated Object Locomotion Through Reinforcement Learning

When moving objects that are too bulky or heavy to be grasped or lifted, robotic manipulation can benefit from the object's interaction with the support surface and its natural dynamics under gravity. In this work, we show that such dynamic, underactuated manipulation capability can be acquired thro…