4 papers
Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation
Mariia Iavorskaia, Christian Dietz, Sebastian Albrecht +1
Imitation learning enables robots to acquire manipulation skills from demonstrations, but the resulting policies can fail outside the training data, while collecting more demonstra…
Learning Where it Matters: Autonomous Data Collection and Offline Reinforcement Learning for Local Contact-Rich Manipulation
Oliver Hausdörfer, Linus Schwarz, Gabor Marko +7
Learned policies trained end-to-end on large datasets often remain brittle in high-precision contact-rich tasks. Further, they typically require large amounts of manually collected…
Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives
Christian Dietz, Sebastian Albrecht, Gianluca Frison +2
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods…
High Accuracy Numerical Optimal Control for Rigid Bodies with Patch Contacts through Equivalent Contact Points -- Extended Version
Christian Dietz, Armin Nurkanović, Sebastian Albrecht +1
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high…