Residual Feedback Learning for Contact-Rich Manipulation Tasks with Uncertainty
Alireza Ranjbar,Ngo Anh Vien,Hanna Ziesche,Joschka Boedecker,Gerhard Neumann,Alireza Ranjbar,Ngo Anh Vien,Hanna Ziesche,Joschka Boedecker,Gerhard Neumann
While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL) offers a formulation to improve existing controllers with reinforcement learning (RL) by learning an additive "residual" to the output of a given controller. However...
