Learning Generalizable Pivoting Skills
Xiang Zhang,Siddarth Jain,Baichuan Huang,Masayoshi Tomizuka,Diego Romeres,Xiang Zhang,Siddarth Jain,Baichuan Huang,Masayoshi Tomizuka,Diego Romeres
The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across different objects. This paper proposes a framework for learning robust and generalizable pivoting skills, which consists of three steps. First, we learn a pivoting po...
