On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing
Gagan Khandate,Maximilian Haas-Heger,Matei Ciocarlie,Gagan Khandate,Maximilian Haas-Heger,Matei Ciocarlie
Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-orientation of objects. However, achieving these gaits with arbitrary orientations of the hand is challenging due to the unstable nature of the task. In this work, we use model-free reinforcement learning (RL) to learn finger-gaiting only via precision grasps and demonstrate finger-gaiting for rotation about an axi...
