Nov 18, 2023 · We propose a constraint-aware policy that is applicable to various unseen manipulations by grouping several manipulations together based on the ...
The constraint-aware policy is trained in the environment, which consists of the body and its constraint. The policy can be applied to various manipulations ...
This paper focuses on two types of physical constraints: prismatic and revolute joints. Experiments demonstrated that the same policy could successfully execute ...
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Constraint-Aware Policy for Compliant Manipulation. D. Saito, K. Sasabuchi, N. Wake, A. Kanehira, J. Takamatsu, H. Koike, and K. Ikeuchi.
Constraint-aware Policy for Compliant Manipulation. D. Saito, K. Sasabuchi, N. Wake, A. Kanehira, J. Takamatsu, H. Koike, and K. Ikeuchi. CoRR, (2023 ).
The type of physical constraint determines the characteristic of the imposed force direction; thus, a generalized policy is trained in the environment and ...
GHOJA: Human-in-the-Loop Joint Pose Optimization based on Geometric Constraint and Human Common-sense ... Constraint-Aware Policy for Compliant Manipulation. D ...
Learning policies subject to constraints is a challenging problem. In this paper, we propose a method of constraint-aware learning that solves the policy ...
Jul 19, 2024 · Abstract—Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans.
This paper proposes a constraint-aware policy that is applicable to various unseen manipulations by grouping several manipulations together based on the ...