Learning Hierarchical Control for Robust In-Hand Manipulation
Tingguang Li,Krishnan Srinivasan,Max Qing-Hu Meng,Wenzhen Yuan,Jeannette Bohg,Tingguang Li,Krishnan Srinivasan,Max Qing-Hu Meng,Wenzhen Yuan,Jeannette Bohg
Robotic in-hand manipulation has been a longstanding challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of prior work has either focused on model-based, low-level controllers or on model-free deep reinforcement learning that each have their own limitations. We propos...
