Manipulation

[IROS19] Learning Virtual Grasp with Failed Demonstrations via Bayesian Inverse Reinforcement Learning

We propose Bayesian Inverse Reinforcement Learning with Failure (BIRLF), which makes use of failed demonstrations that were often ignored or filtered in previous methods due to the difficulties to incorporate them in addition to the successful ones. …

[ICRA19] High-Fidelity Grasping in Virtual Reality using a Glove-based System

This paper presents a design that jointly provides hand pose sensing, hand localization, and haptic feedback to facilitate real-time stable grasps in Virtual Reality (VR). The design is based on an easy-to-replicate glove-based system that can …

[AAAI19] Mirroring without Overimitation: Learning Functionally Equivalent Manipulation Actions

This paper presents a mirroring approach, inspired by the neuroscience discovery of the mirror neurons, to transfer demonstrated manipulation actions to robots. Designed to address the different embodiments between a human (demonstrator) and a robot, …

[ICRA18] Unsupervised Learning using Hierarchical Models for Hand-Object Interactions

Contact forces of the hand are visually unobservable, but play a crucial role in understanding hand-object interactions. In this paper, we propose an unsupervised learning approach for manipulation event segmentation and manipulation event parsing. …

[IROS17] A Glove-based System for Studying Hand-Object Manipulation via Joint Pose and Force Sensing

We present a design of an easy-to-replicate glove-based system that can reliably perform simultaneous hand pose and force sensing in real time, for the purpose of collecting human hand data during fine manipulative actions. The design consists of a …

[IROS17] Feeling the Force: Integrating Force and Pose for Fluent Discovery through Imitation Learning to Open Medicine Bottles

Learning complex robot manipulation policies for real-world objects is challenging, often requiring significant tuning within controlled environments. In this paper, we learn a manipulation model to execute tasks with multiple stages and variable …