Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide Task Spaces
Eugene Valassakis,Norman Di Palo,Edward Johns,Eugene Valassakis,Norman Di Palo,Edward Johns
In this paper, we study the problem of zero-shot sim-to-real when the task requires both highly precise control with sub-millimetre error tolerance, and wide task space generalisation. Our framework involves a coarse-to-fine controller, where trajectories begin with classical motion planning using ICP-based pose estimation, and transition to a learned end-to-end controller which maps images to act...
