This paper presents Manip4Care+, which extends a modular simulation pipeline for grasping and repositioning human limbs using constrained MPPI and vector-field tracking with a projection-based Constraint-RRTConnect planner and a learned constraint checker for coupled robot–human states.
An imitation learning framework for developing a model-free behavioral cloning (BC) policy that generates grasp strategies for three-dimensional deformable objects and results demonstrate that contact-driven augmentation and BC can support ARH grasping of three-dimensional deformable objects despite an initial small-nu...
Abdul Hafiz Abdul Rahaman, P. Shiakolas· Applied Sciences· 0 citations
A three-stage pipeline that converts human motion-capture recordings into dexterous robot policies with no real-robot training data is built, which transfers one human dataset to four morphologically distinct robot hands, and executes four contact-rich bimanual tasks on physical hardware with zero real-robot training d...
Zi-Hao Yang, Cheng-Yu Liu, Yu Zhou et al.· 0 citations
Effective learning design guidelines for realizing arm-based locomotion on life-sized robotic hardware and expanding the traversable workspace of robots are provided.
Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda et al.· 0 citations
Weave is presented, a unified framework for learning whole-body dexterous humanoid-object interaction from captured human demonstrations that converts captured human-object interactions into executable robot-object references through contact-aware retargeting and approach-motion completion.
Liu Cao, Xing-Ze Wu, Jing-Zhi Cui et al.· 1 citation
Transferring human demonstrations to dexterous robots remains challenging because differences in hand morphology and contact dynamics often cause retargeted motions to fail at producing the intended object behavior. We present \textbf{FoLD}, a framework for learning dexterous manipulation of articulated objects through...
Hao-Wei Shen, Ti-Ngai Li, Yu-Meng Liu et al.· 0 citations
A humanoid with 5-DoF arms cannot track generic bimanual end-effector trajectories with its arms alone; pelvis and waist motion must be recruited, but which motion, and when, is not uniquely determined. On a Unitree R1 in fixed double support, the set of dynamically valid recruitment strategies (pelvis pose and waist t...
Han-Long Li, Si-Han Tan, Takeshi Ashizawa et al.· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
