Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly

20 Mar 2019 Luo Jianlan Solowjow Eugen Wen Chengtao Ojea Juan Aparicio Agogino Alice M. Tamar Aviv Abbeel Pieter

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational space force/torque information into reinforcement learning; this is motivated by humans heuristically mapping perceived forces to control actions, which results in completing high-precision tasks in a fairly easy manner... (read more)

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