Sim-to-Real Transfer for Robotic Manipulation with Tactile Sensory
Zihan Ding,Ya-Yen Tsai,Wang Wei Lee,Bidan Huang,Zihan Ding,Ya-Yen Tsai,Wang Wei Lee,Bidan Huang
Reinforcement Learning (RL) methods have been widely applied for robotic manipulations via sim-to-real transfer, typically with proprioceptive and visual information. However, the incorporation of tactile sensing into RL for contact-rich tasks lacks investigation. In this paper, we model a tactile sensor in simulation and study the effects of its feedback in RL-based robotic control via a zero-sho...
