Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration
Juan Del Aguila Ferrandis,João Moura,Sethu Vijayakumar,Juan Del Aguila Ferrandis,João Moura,Sethu Vijayakumar
Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the uncertainty resulting from the frictional interactions, requires sophisticated control behaviors. Reinforcement Learning (RL) is a powerful framework for developing such ...
