Online Model Adaptation with Feedforward Compensation
To cope with distribution shifts or non-stationarity in system dynamics, online adaptation
algorithms have been introduced to update offline-learned prediction models in real-time …
algorithms have been introduced to update offline-learned prediction models in real-time …
Soft Human-Robot Handover Using a Vision-Based Pipeline
Handing over objects is an essential task in human-robot collaborative scenarios. Previous
studies have predominantly employed rigid grippers to perform the handover, focusing on …
studies have predominantly employed rigid grippers to perform the handover, focusing on …
A lightweight and transferable design for robust lego manipulation
Lego is a well-known platform for prototy** pixelized objects. However, robotic Lego
prototy** (ie, manipulating Lego bricks) is challenging due to the tight connections and …
prototy** (ie, manipulating Lego bricks) is challenging due to the tight connections and …
StableLego: Stability Analysis of Block Stacking Assembly
Structural stability is a necessary condition for successful construction of an assembly.
However, designing a stable assembly requires a non-trivial effort since a slight variation in …
However, designing a stable assembly requires a non-trivial effort since a slight variation in …
Robustifying Long-term Human-Robot Collaboration through a Hierarchical and Multimodal Framework
P Yu, A Abuduweili, R Liu, C Liu - ar** flexible
manufacturing systems and for integrating companion robots into daily human environments …
manufacturing systems and for integrating companion robots into daily human environments …
Physics-Aware Combinatorial Assembly Sequence Planning using Data-free Action Masking
Combinatorial assembly uses standardized unit primitives to build objects that satisfy user
specifications. This paper studies assembly sequence planning (ASP) for physical …
specifications. This paper studies assembly sequence planning (ASP) for physical …
Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
It is critical to ensure safety for humanoid robots in real-world applications without
compromising performance. In this paper, we consider the problem of dexterous safety …
compromising performance. In this paper, we consider the problem of dexterous safety …
An Offline Reinforcement Learning-Based Framework for Proactive Robot Assistance in Assembly Task
Proactive robot assistance plays a critical role in human-robot collaborative assembly
(HRCA), enhancing operational efficiency, product quality and workers' ergonomics. The …
(HRCA), enhancing operational efficiency, product quality and workers' ergonomics. The …