A Multi-Agent Approach for Adaptive Finger Cooperation in Learning-based In-Hand Manipulation
Lingfeng Tao,Jiucai Zhang,Michael Bowman,Xiaoli Zhang,Lingfeng Tao,Jiucai Zhang,Michael Bowman,Xiaoli Zhang
In-hand manipulation is challenging for a multi-finger robotic hand due to its high degrees of freedom and complex interaction with the object. To enable in-hand manipulation, existing deep reinforcement learning-based approaches mainly focus on training a single robot-structure-specific policy through the centralized learning mechanism, lacking adaptability to changes like robot malfunction. To s...
