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Kernelized movement primitives
Imitation learning has been studied widely as a convenient way to transfer human skills to
robots. This learning approach is aimed at extracting relevant motion patterns from human …
robots. This learning approach is aimed at extracting relevant motion patterns from human …
i-sim2real: Reinforcement learning of robotic policies in tight human-robot interaction loops
Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to
train policies in simulation enables safe exploration and large-scale data collection quickly …
train policies in simulation enables safe exploration and large-scale data collection quickly …
Nonprehensile dynamic manipulation: A survey
Nonprehensile dynamic manipulation can be reasonably considered as the most complex
manipulation task. It might be argued that such a task is still rather far from being fully solved …
manipulation task. It might be argued that such a task is still rather far from being fully solved …
Learning to play table tennis from scratch using muscular robots
Dynamic tasks such as table tennis are relatively easy to learn for humans, but pose
significant challenges to robots. Such tasks require accurate control of fast movements and …
significant challenges to robots. Such tasks require accurate control of fast movements and …
Real-time dynamic obstacle avoidance for robot manipulators based on cascaded nonlinear MPC with artificial potential field
Nowadays, the realization of obstacle avoidance for robot manipulators are generally based
on offline path planning, which may be insufficient for real-time dynamic obstacle avoidance …
on offline path planning, which may be insufficient for real-time dynamic obstacle avoidance …
Robotic table tennis: A case study into a high speed learning system
We present a deep-dive into a real-world robotic learning system that, in previous work, was
shown to be capable of hundreds of table tennis rallies with a human and has the ability to …
shown to be capable of hundreds of table tennis rallies with a human and has the ability to …
[HTML][HTML] Online optimal trajectory generation for robot table tennis
In highly dynamic tasks that involve moving targets, planning is necessary to figure out
when, where and how to intercept the target. In robotic table tennis in particular, motion …
when, where and how to intercept the target. In robotic table tennis in particular, motion …
Robotic table tennis with model-free reinforcement learning
We propose a model-free algorithm for learning efficient policies capable of returning table
tennis balls by controlling robot joints at a rate of 100Hz. We demonstrate that evolutionary …
tennis balls by controlling robot joints at a rate of 100Hz. We demonstrate that evolutionary …
Imitating via manipulability: Geometry-aware combined DMP with via-point and speed adaptation
X Xu, K Qian, B Zhou, F Fang, X Ma - Computers and Electrical …, 2024 - Elsevier
Manipulability ellipsoid on the Riemannian manifold provides an effective criterion for
guiding the regulation of robot postures in an efficient and natural manner. While many …
guiding the regulation of robot postures in an efficient and natural manner. While many …