Learning Multimodal Contact-Rich Skills from Demonstrations Without Reward Engineering
Mythra V. Balakuntala,Upinder Kaur,Xin Ma,Juan Wachs,Richard M. Voyles,Mythra V. Balakuntala,Upinder Kaur,Xin Ma,Juan Wachs,Richard M. Voyles
Everyday contact-rich tasks, such as peeling, cleaning, and writing, demand multimodal perception for effective and precise task execution. However, these present a novel challenge to robots as they lack the ability to combine these multimodal stimuli for performing contact-rich tasks. Learning-based methods have attempted to model multi-modal contact-rich tasks, but they often require extensive t...
