Domain Randomization for Robust, Affordable and Effective Closed-Loop Control of Soft Robots
Gabriele Tiboni,Andrea Protopapa,Tatiana Tommasi,Giuseppe Averta,Gabriele Tiboni,Andrea Protopapa,Tatiana Tommasi,Giuseppe Averta
Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated description is available. This challenge makes reinforcement learning (RL) based approaches inefficient when deployed on a realistic scenario, due to the large do...
