Sim-to-Real Transfer of Bolting Tasks with Tight Tolerance
Dongwon Son,Hyunsoo Yang,Dongjun Lee,Dongwon Son,Hyunsoo Yang,Dongjun Lee
In this paper, we propose a novel sim-to-real framework to solve bolting tasks with tight tolerance and complex contact geometry which are hard to be modeled. The sim-to-real has desirable features in terms of cost and safety, however, that of the assembly task is rare due to the lack of simulator, which can robustly render multi-contact assembly. We implement the sim-to-real transfer of nut tight...
