Deep Reinforcement Learning for Industrial Insertion Tasks with Visual Inputs and Natural Rewards
Gerrit Schoettler,Ashvin Nair,Jianlan Luo,Shikhar Bahl,Juan Aparicio Ojea,Eugen Solowjow,Sergey Levine,Gerrit Schoettler,Ashvin Nair,Jianlan Luo,Shikhar Bahl,Juan Aparicio Ojea,Eugen Solowjow,Sergey Levine
Connector insertion and many other tasks commonly found in modern manufacturing settings involve complex contact dynamics and friction. Since it is difficult to capture related physical effects with first-order modeling, traditional control methods often result in brittle and inaccurate controllers, which have to be manually tuned. Reinforcement learning (RL) methods have been demonstrated to be c...
