Modeling Collaboration for Robot-assisted Dressing Tasks

Clegg Alexander
Clegg Alexander
Cited by: 0|Bibtex|Views53
Other Links: arxiv.org

Abstract:

We investigated the application of haptic aware feedback control and deep reinforcement learning to robot assisted dressing in simulation. We did so by modeling both human and robot control policies as separate neural networks and training them both via TRPO. We show that co-optimization, training separate human and robot control polici...More

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