COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing
Zhuo Xu,Wenhao Yu,Alexander Herzog,Wenlong Lu,Chuyuan Fu,Masayoshi Tomizuka,Yunfei Bai,C. Karen Liu,Daniel Ho,Zhuo Xu,Wenhao Yu,Alexander Herzog,Wenlong Lu,Chuyuan Fu,Masayoshi Tomizuka,Yunfei Bai,C. Karen Liu,Daniel Ho
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 dynamics properties, which is pivotal in solving many contact-rich ...
