A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion
Rui Chen,Chenxi Wang,Tianhao Wei,Changliu Liu,Rui Chen,Chenxi Wang,Tianhao Wei,Changliu Liu
Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The chal-lenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be inserted. To deliver a feasible robotic solution for these insertion tasks, we also need to account for hardware limits of existing robotic systems and minimize...
