Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly
Haohong Lin,Radu Corcodel,Ding Zhao,Haohong Lin,Radu Corcodel,Ding Zhao
Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble Skill Transfer (TEST) framework, a pioneering offline reinforcement learning (RL) approach that incorporates tactile feedback in the control loop. TEST’s core design is to learn a skill transition model for high-level pla...
