Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting
Vincent Lim,Huang Huang,Lawrence Yunliang Chen,Jonathan Wang,Jeffrey Ichnowski,Daniel Seita,Michael Laskey,Ken Goldberg,Vincent Lim,Huang Huang,Lawrence Yunliang Chen,Jonathan Wang,Jeffrey Ichnowski,Daniel Seita,Michael Laskey,Ken Goldberg
This paper introduces the task of Planar Robot Casting (PRC): where one planar motion of a robot arm holding one end of a cable causes the other end to slide across the plane toward a desired target. PRC allows the cable to reach points beyond the robot workspace and has applications for cable management in homes, warehouses, and factories. To efficiently learn a PRC policy for a given cable, we p...
