Search Results for author: Sami Haddadin

Found 12 papers, 4 papers with code

Anthropomorphic Grasping with Neural Object Shape Completion

no code implementations4 Nov 2023 Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma C. Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role.


The Next Evolution of Artificial Sense of Touch

no code implementations25 Oct 2023 Sonja Groß, Amartya Ganguly, Hendrik Dietz, Sami Haddadin

We propose the next evolution of the artificial sense of touch, including an in-depth examination of the latest advancements in tactile sensing technology and the challenges that remain.

Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

no code implementations14 Sep 2023 Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin

Furthermore, we demonstrate that providing full control authority over the energy transfer timing and link decoupling allows the user to synchronously release both elastic joint and gravitational energy.

LATTE: LAnguage Trajectory TransformEr

2 code implementations4 Aug 2022 Arthur Bucker, Luis Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Sai Vemprala, Rogerio Bonatti

Natural language is one of the most intuitive ways to express human intent.

Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers

no code implementations25 Mar 2022 Arthur Bucker, Luis Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti

However, using language is seldom an easy task when humans need to express their intent towards robots, since most of the current language interfaces require rigid templates with a static set of action targets and commands.

Imitation Learning Text Generation

SyReNets: Symbolic Residual Neural Networks

no code implementations30 May 2021 Carlos Magno C. O. Valle, Sami Haddadin

In this paper, we propose SyReNets, an approach that leverages neural networks for learning symbolic relations to accurately describe dynamic physical systems from data.

Learning Vision-based Reactive Policies for Obstacle Avoidance

no code implementations30 Oct 2020 Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators.

How to Make Deep RL Work in Practice

1 code implementation25 Oct 2020 Nirnai Rao, Elie Aljalbout, Axel Sauer, Sami Haddadin

Additionally, techniques from supervised learning are often used by default but influence the algorithms in a reinforcement learning setting in different and not well-understood ways.

reinforcement-learning Reinforcement Learning (RL)

Tracking Holistic Object Representations

2 code implementations21 Jul 2019 Axel Sauer, Elie Aljalbout, Sami Haddadin

The framework leverages the idea of obtaining additional object templates during the tracking process.

Object Template Matching +2

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