Learning Robotic Contact Juggling
Kazutoshi Tanaka,Masashi Hamaya,Devwrat Joshi,Felix von Drigalski,Ryo Yonetani,Takamitsu Matsubara,Yoshihisa Ijiri,Kazutoshi Tanaka,Masashi Hamaya,Devwrat Joshi,Felix von Drigalski,Ryo Yonetani,Takamitsu Matsubara,Yoshihisa Ijiri
Robotic contact juggling is a challenging task in which robots must control the movement of a ball rapidly and indirectly without holding it while keeping the ball in and sometimes out of contact with the robot’s body. In this work, we address the problem of learning such robotic contact juggling from trial and error via model-based reinforcement learning (MBRL). The key insight is that complex ro...
