initial update

_publications/2020guided.md

@@ -7,7 +7,7 @@ excerpt: 'In this work, we introduce a hierarchical policy structure that select
 date: 2020-06-01
 venue: 'Robotics: Science and Systems (RSS) Conference 2020 - Learning in Task and Motion Planning Workshop'
 # slidesurl: 'http://academicpages.github.io/files/slides1.pdf'
-paperurl: 'https://www.academia.edu/download/99743486/20-oz-RSSws-ltamp.pdf'
+paperurl: 'https://argmin.lis.tu-berlin.de/papers/20-oz-RSSws-ltamp.pdf'
 # citation: 'Your Name, You. (2009). &quot;Paper Title Number 1.&quot; <i>Journal 1</i>. 1(1).'
 pubtype: 'conference'
 highlight: 'no'

_publications/2024enabling.md

@@ -0,0 +1,17 @@
+---
+title: "Enabling Versatility and Dexterity of the Dual-Arm Manipulators: A General Framework Toward Universal Cooperative Manipulation"
+collection: publications
+permalink: /publication/2024enabling
+authorlist: 'Yi Ren*, <b>Zhehua Zhou* (equal contribution)</b>, Ziwei Xu, Yang Yang, Guangyao Zhai, Marion Leibold, Fenglei Ni, Zhengyou Zhang, Martin Buss, Yu Zheng'
+excerpt: 'In this article, we propose a general and versatile control framework for dual-arm manipulators.'
+date: 2024-02-27
+venue: 'IEEE Transactions on Robotics'
+# slidesurl: 'http://academicpages.github.io/files/slides1.pdf'
+paperurl: 'https://ieeexplore.ieee.org/abstract/document/10449470'
+# citation: 'Your Name, You. (2009). &quot;Paper Title Number 1.&quot; <i>Journal 1</i>. 1(1).'
+teaser: '/images/2024enabling.jpeg'
+pubtype: 'journal'
+highlight: 'yes'
+---
+
+Grasping and manipulating various kinds of objects cooperatively is the core skill of a dual-arm robot when deployed as an autonomous agent in a human-centered environment. This requires fully exploiting the robot's versatility and dexterity. In this work, we propose a general framework for dual-arm manipulators that contains two correlative modules. The learning-based dexterity-reachability-aware perception module deals with vision-based bimanual grasping. It employs an end-to-end evaluation network and probabilistic modeling of the robot's reachability to deliver feasible and dexterity-optimum grasp pairs for unseen objects. The optimization-based versatility-oriented control module addresses the online cooperative manipulation control by using a hierarchical quadratic programming formulation. Self-collision avoidance and dual-arm manipulability ellipsoid tracking with high reliability and fidelity are simultaneously achieved based on a learned lightweight distance proxy function and a speed-level tracking technique on Riemannian manifold. Intrinsic system safety is guaranteed, and a novel interface for skill transfer is enabled. A long-horizon rearrangement experiment, a bimanual turnover manipulation, and multiple comparative performance evaluation verify the effectiveness of the proposed framework.