The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms
Alexander Koenig,Zixi Liu,Lucas Janson,Robert Howe,Alexander Koenig,Zixi Liu,Lucas Janson,Robert Howe
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first experiment investigates the need for rich tactile sensing in the rewards of RL-based grasp refinement algorithms for multi-fingered robotic hands. We systematically in...
