Representing Unstructured Environments for Robotic Manipulation: Toward Generalization, Dexterity and Robustness
We would like to have highly useful robot manipulators that can handle a diversity of objects/environments, perform challenging manipulation tasks while being sufficiently robust such that deployment at scale is feasible. This thesis aims at such a generalizable, dexterous and robust manipulation pi...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/140017 |