Learning to Scaffold the Development of Robotic Manipulation Skills
Lin Shao,Toki Migimatsu,Jeannette Bohg,Lin Shao,Toki Migimatsu,Jeannette Bohg
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and achieve more robust manipulation, humans actively exploit contact constraints in the environment. By adopting a similar strategy, robots can also achieve more robu...
