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Representing Unstructured Environments for Robotic Manipulation: Toward Generalization, Dexterity and Robustness
(Massachusetts Institute of Technology, 2021-09)
We would like to have highly useful robot manipulators that can handle a diversity of objects/environments, perform challenging manipulation tasks while being sufficiently robust such that deployment at scale is feasible. ...
Integrated perception, planning and feedback control for generalizable robotic manipulation
(Massachusetts Institute of Technology, 2020)
Humans can easily adapt their manipulation skills to unseen objects, new environment and different tasks. However, existing robot manipulators are typically limited to known object instance and skill transferring is ...