Learning Multimodal Contact-Rich Skills from Demonstrations Without Reward Engineering
Mythra V. Balakuntala Upinder Kaur Xin Ma Juan Wachs Richard M. Voyles Mythra V. Balakuntala Upinder Kaur Xin Ma Juan Wachs Richard M. Voyles
Everyday contact-rich tasks, such as peeling, cleaning, and writing, demand multimodal perception for effective and precise task execution. However, these present a novel challenge to robots as they lack the ability to combine these multimodal stimuli for performing contact-rich tasks. Learning-based methods have attempted to model multi-modal contact-rich tasks, but they often require extensive t...