Learning Contact-Rich Assembly Skills Using Residual Admittance Policy
Oren Spector,Miriam Zacksenhouse,Oren Spector,Miriam Zacksenhouse
Contact-rich assembly tasks may result in large and unpredictable forces and torques when the locations of the contacting parts are uncertain. The ability to correct the trajectory in response to haptic feedback and accomplish the task despite location uncertainties is an important skill. We hypothesize that this skill would facilitate generalization and support direct transfer from simulations to...
