Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion
Xiang Zhang,Masayoshi Tomizuka,Hui Li,Xiang Zhang,Masayoshi Tomizuka,Hui Li
Contact-rich manipulation tasks often exhibit a large sim-to-real gap. For instance, industrial assembly tasks frequently involve tight insertions where the clearance is less than 0.1 mm and can even be negative when dealing with a deformable receptacle. This narrow clearance leads to complex contact dynamics that are difficult to model accurately in simulation, making it challenging to transfer s...
