Learning Sequences of Manipulation Primitives for Robotic Assembly
Nghia Vuong Hung Pham Quang-Cuong Pham Nghia Vuong Hung Pham Quang-Cuong Pham
This paper explores the idea that skillful assembly is best represented as dynamic sequences of Manipulation Primitives, and that such sequences can be automatically discovered by Reinforcement Learning. Manipulation Primitives, such as "Move down until contact", "Slide along x while maintaining contact with the surface", have enough complexity to keep the search tree shallow, yet are generic enou...