Outputs (7)

Multi-finger grasping with behavioral cloning and SAC fine-tuning (2025)
Presentation / Conference Contribution

We introduce a learning-based framework for dexterous multi-finger robotic grasping utilising a dexter-ous hand within the PyBullet simulation environment. Our approach relies exclusively on object and hand pose inputs, deliberately avoiding any visu... Read More about Multi-finger grasping with behavioral cloning and SAC fine-tuning.

A vision-guided deep learning framework for dexterous robotic grasping using Gaussian processes and transformers (2025)
Journal Article

Robotic manipulation of objects with diverse shapes, sizes, and properties, especially deformable ones, remains a significant challenge in automation, necessitating human-like dexterity through the integration of perception, learning, and control. Th... Read More about A vision-guided deep learning framework for dexterous robotic grasping using Gaussian processes and transformers.

Integrating vision and learning-based method for dexterous grasping (2024)
Presentation / Conference Contribution

Robotic grasping and manipulating objects with varying properties pose significant challenges. This paper presents an approach integrating vision-based object detection using You Only Look Once (YOLO, version 8) with learning from demonstration (LfD)... Read More about Integrating vision and learning-based method for dexterous grasping.

Dynamic movement primitives-based human action prediction and shared control for bilateral robot teleoperation (2024)
Journal Article

This article presents a novel shared-control teleoperation framework that integrates imitation learning and bilateral control to achieve system stability based on a new dynamic movement primitives (DMPs) observer. First, a DMPs-based observer is firs... Read More about Dynamic movement primitives-based human action prediction and shared control for bilateral robot teleoperation.

A dynamic movement primitives-based tool use skill learning and transfer framework for robot manipulation (2024)
Journal Article

This paper presents a framework for learning and transferring robot tool-use skills based on Dynamic Movement Primitives (DMPs) for robot fine manipulation. DMPs and their enhanced methods are employed to acquire a specific tool-use skill applicable... Read More about A dynamic movement primitives-based tool use skill learning and transfer framework for robot manipulation.

MechTac: A multifunctional tendon-linked optical tactile sensor for in/out-the-field-of-view perception with deep learning (2023)
Presentation / Conference Contribution

Tactile sensors can be used for motion detection and object perception in robot manipulation. The contact detection within the camera's visual inspection area has been well-developed, but perception outside the field of view of the camera is overlook... Read More about MechTac: A multifunctional tendon-linked optical tactile sensor for in/out-the-field-of-view perception with deep learning.

Human-in-the-loop Learning and Control for Robot Teleoperation (2023)
Book

Human-in-the-loop Learning and Control for Robot Teleoperation presents recent, research progress on teleoperation and robots, including human-robot interaction, learning and control for teleoperation with many extensions on intelligent learning tech... Read More about Human-in-the-loop Learning and Control for Robot Teleoperation.