COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing

Zhuo Xu
Zhuo Xu
Wenhao Yu
Wenhao Yu
Alexander Herzog
Alexander Herzog
Wenlong Lu
Wenlong Lu
Chuyuan Fu
Chuyuan Fu
Daniel Ho
Daniel Ho
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其它链接arxiv.org

摘要

General contact-rich manipulation problems are long-standing challenges in robotics due to the difficulty of understanding complicated contact physics. Deep reinforcement learning (RL) has shown great potential in solving robot manipulation tasks. However, existing RL policies have limited adaptability to environments with diverse dynam...更多

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