Consensus-based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination
Hang Yin,Christos K. Verginis,Danica Kragic,Hang Yin,Christos K. Verginis,Danica Kragic
We develop two consensus-based learning algorithms for multi-robot systems applied on complex tasks involving collision constraints and force interactions, such as the cooperative peg-in-hole placement. The proposed algorithms integrate multi-robot distributed consensus and normalizing-flow-based reinforcement learning. The algorithms guarantee the stability and the consensus of the multi-robot sy...
