Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical physical execution remains a significant challenge. Existing techniques in the graphics community often prioritize visual fidelity over physics-based feasibility, posing a significant challenge for deploying bipedal systems in practical applications. … [Read more...] about I-CTRL: Imitation to Control Humanoid Robots Through Bounded Residual Reinforcement Learning
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Bridging the Reality Gap: Analyzing Sim-to-Real Transfer Techniques for Reinforcement Learning in Humanoid Bipedal Locomotion
Reinforcement learning (RL) offers a promising solution for controlling humanoid robots, particularly for bipedal locomotion, by learning adaptive and flexible control strategies. However, direct RL application is hindered by time-consuming trial-and-error processes, necessitating training in simulation before real-world transfer. This introduces a reality gap that degrades … [Read more...] about Bridging the Reality Gap: Analyzing Sim-to-Real Transfer Techniques for Reinforcement Learning in Humanoid Bipedal Locomotion
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real-time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to … [Read more...] about Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Visuo-Tactile Recognition of Partial Point Clouds Using PointNet and Curriculum Learning
This article is about recognizing handheld objects from incomplete tactile observations with a classifier trained on only visual representations. Our method is based on the deep learning (DL) architecture PointNet and a curriculum learning (CL) technique for fostering the learning of descriptors robust to partial representations of objects. The learning procedure gradually … [Read more...] about Visuo-Tactile Recognition of Partial Point Clouds Using PointNet and Curriculum Learning
