Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand
Leon Sievers,Johannes Pitz,Berthold Bäuml,Leon Sievers,Johannes Pitz,Berthold Bäuml
We show that a purely tactile dextrous in-hand manipulation task with continuous regrasping, requiring permanent force closure, can be learned from scratch and executed robustly on a torque-controlled humanoid robotic hand. The task is rotating a cube without dropping it, but in contrast to OpenAI's seminal cube manipulation task [1], the palm faces downwards and no cameras but only the hand's pos...
