3 accepted papers
Grasping unknown objects with multi-fingered hands at high success rates and in real-time is an unsolved problem. Existing methods are limited in the speed of grasp synthesis or the ability to synthesize a variety of grasps from the same observation. We introduce Five-finger Hand Net (FFHNet), an ML…
Collaborative robots are expected to work alongside humans and directly replace human workers in some cases, thus effectively responding to rapid changes in assembly lines. Current methods for programming contact-rich tasks, particularly in heavily constrained spaces, tend to be fairly inefficient.…
Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control methods as the controller requires an effective combination of modalities and vastly different characteristics. In this paper…