SoftGPT: Learn Goal-Oriented Soft Object Manipulation Skills by Generative Pre-Trained Heterogeneous Graph Transformer
Junjia Liu,Zhihao Li,Wanyu Lin,Sylvain Calinon,Kay Chen Tan,Fei Chen,Junjia Liu,Zhihao Li,Wanyu Lin,Sylvain Calinon,Kay Chen Tan,Fei Chen
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from human demonstration is an effective way for robot applications, developing prior knowledge of the representation and dynamics of soft objects is necessary. In this ...
