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cs.RO2022
Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes
Liang Xie, Hongxiang Yu, Kechun Xu +5
This paper proposes a learning-based visual peg-in-hole that enables training with several shapes in simulation, and adapting to arbitrary unseen shapes in real world with minimal…
cs.RO2022
Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World
Liang Xie, Hongxiang Yu, Yinghao Zhao +5
In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we…