2 papers
cs.RO2022
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning
Andrew S. Morgan, Kaiyu Hang, Bowen Wen +2
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is…
cs.RO2021
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning
Andrew S. Morgan, Daljeet Nandha, Georgia Chalvatzaki +3
Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Mean…