A Learning Approach to Robot-Agnostic Force-Guided High Precision Assembly
Jieliang Luo,Hui Li,Jieliang Luo,Hui Li
In this work we propose a learning approach to high-precision robotic assembly problems. We focus on the contact-rich phase, where the assembly pieces are in close contact with each other. Unlike many learning-based approaches that heavily rely on vision or spatial tracking, our approach takes force/torque in task space as the only observation. Our training environment is robotless, as the end-eff...
