Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
Siyuan Dong Devesh K. Jha Diego Romeres Sangwoon Kim Daniel Nikovski Alberto Rodriguez Siyuan Dong Devesh K. Jha Diego Romeres Sangwoon Kim Daniel Nikovski Alberto Rodriguez
Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly limits the ability to understand the contact configuration between the object and the environment. We study the problem of aligning the object and environment with a tactile-based feedback insertion policy. The insertion pr...