Published in ICRA 2020, 2020
Using pregrasp manipulation to grasp large, flat objects laying on the table against a wall.
Recommended citation: Sun, Zhaole, et al. "Learning pregrasp manipulation of objects from ungraspable poses." 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. https://arxiv.org/abs/2002.06344
Published in Advances in Neural Information Processing Systems (NeurIPS 2021), 2021
Disentalngling object-centric representations from a video.
Recommended citation: Li, Nanbo, Muhammad Ahmed Raza, Wenbin Hu, Zhaole Sun, and Robert Fisher. "Object-centric representation learning with generative spatial-temporal factorization." Advances in Neural Information Processing Systems 34 (2021): 10772-10783. https://proceedings.neurips.cc/paper/2021/hash/593906af0d138e69f49d251d3e7cbed0-Abstract.html
Published in IEEE Robotics and Automation Letters, 2023
Detect cable-like objects in 3D from a RGBD image with occulusions.
Recommended citation: Zhaole, Sun, Hang Zhou, Li Nanbo, Longfei Chen, Jihong Zhu, and Robert B. Fisher. "A Robust Deformable Linear Object Perception Pipeline in 3D: From Segmentation to Reconstruction." IEEE Robotics and Automation Letters 9, no. 1 (2023): 843-850. https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10333979
Published in ICRA 2024, 2024
Using a simulated hand to grab a tube/cable.
Recommended citation: Zhaole, Sun, Jihong Zhu, and Robert B. Fisher. "DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects." arXiv preprint arXiv:2312.15204 (2023). https://arxiv.org/abs/2312.15204