Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist
Hai Nguyen,Tadashi Kozuno,Cristian C. Beltran-Hernandez,Masashi Hamaya,Hai Nguyen,Tadashi Kozuno,Cristian C. Beltran-Hernandez,Masashi Hamaya
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often use a fully observable formulation, requiring external setups or estimators for the peg-to-hole pose. In contrast, we use a partially observable formulation and ...
