Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot
Yunlei Shi Zhaopeng Chen Hongxu Liu Sebastian Riedel Chunhui Gao Qian Feng Jun Deng Jianwei Zhang Yunlei Shi Zhaopeng Chen Hongxu Liu Sebastian Riedel Chunhui Gao Qian Feng Jun Deng Jianwei Zhang
Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control methods as the controller requires an effective combination of modalities and vastly different characteristics. In this paper, we first consider incorporating operational space visual and haptic information into a reinforceme...