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Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning
Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-
manipulation skill. In the real world, the object's physical properties and friction with the floor …
manipulation skill. In the real world, the object's physical properties and friction with the floor …
Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters
We consider the nonprehensile object transportation task known as the waiter's problem-in
which a robot must move an object balanced on a tray from one location to another-when …
which a robot must move an object balanced on a tray from one location to another-when …
Adaptive Distance Functions via Kelvin Transformation
The term safety in robotics is often understood as a synonym for avoidance. Although this
perspective has led to progress in path planning and reactive control, a generalization of this …
perspective has led to progress in path planning and reactive control, a generalization of this …