Touch-Based Manipulation with Multi-Fingered Robot using Off-policy RL and Temporal Contrastive Learning

Naoki Morihira,Pranav Deo,Manoj Bhadu,Akinobu Hayashi,Tadaaki Hasegawa,Satoshi Otsubo,Takayuki Osa,Naoki Morihira,Pranav Deo,Manoj Bhadu,Akinobu Hayashi,Tadaaki Hasegawa,Satoshi Otsubo,Takayuki Osa

Tactile information holds promise for enhancing the manipulation capabilities of multi-fingered robots. In tasks such as in-hand manipulation, where robots frequently switch between contact and non-contact states, it is important to address the partial observability of tactile sensors and to properly consider the history of observations and actions. Previous studies have shown that Recurrent Neura...