Work / Manipulation, imitation learning Simulation
Soft-material handling
Dual Kinova Gen3 arms learning from demonstrations
Soft and deformable materials are hard to model, so this project learned handling behaviour from demonstrations. Using a dual Kinova Gen3 setup in simulation, the team collected teleoperation demonstrations and trained policies with behavioural cloning.
The setup includes RGB-D camera simulation for perception and trajectory planning for contact-rich tasks, making it a testbed for comparing learned and planned approaches to soft-material manipulation.
In brief
- Soft and deformable material handling tests
- Teleoperation data collection and behavioural cloning
- RGB-D camera simulation
- Trajectory planning for contact-rich motion