Zobrazeno 1 - 10
of 10
pro vyhledávání: '"Cruciani, Silvia"'
A polyhedral friction cone is a set of reaction wrenches that an object can experience whilst in contact with its environment. This polyhedron is a powerful tool to control an object's motion and interaction with the environment. It can be derived an
Externí odkaz:
http://arxiv.org/abs/2011.13199
Autor:
Cruciani, Silvia, Sundaralingam, Balakumar, Hang, Kaiyu, Kumar, Vikash, Hermans, Tucker, Kragic, Danica
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose of a hand-held object by either using the fingers, environment or a c
Externí odkaz:
http://arxiv.org/abs/2001.03070
This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and regrasping. The DMG
Externí odkaz:
http://arxiv.org/abs/1904.11382
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end p
Externí odkaz:
http://arxiv.org/abs/1803.00346
Autor:
Antonova, Rika, Cruciani, Silvia
Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence the simulate
Externí odkaz:
http://arxiv.org/abs/1706.02501
In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the task. Howeve
Externí odkaz:
http://arxiv.org/abs/1703.00472
Autor:
Cruciani, Silvia
In-hand manipulation is an action that allows for changing the grasp on an object without the need for releasing it. This action is an important component in the manipulation process and helps solving many tasks. Human hands are dexterous instruments
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::0d2a8fd365731c10c343284fd7fdb9b2
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263051
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263051
Publikováno v:
Annual Review of Control, Robotics & Autonomous Systems; 2019, Vol. 2, p161-179, 19p
Autor:
Jiang, Xudong, Chen, Guojian, Capi, Genci, Ishll, Chiharu, Laîné, Mickaël, Cruciani, Silvia, Palazzolo, Emanuele, Britton, Nathan J., Cavarelli, Xavier, Yoshida, Kazuya
Publikováno v:
Proceedings of SPIE; July 2016, Vol. 10011 Issue: 1 p100111M-100111M-8, 901008p
In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the task. Howeve
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a8533fe4532d2e4faecc9d9c208defa9
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215138
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215138