Learning Soft Robotic Assembly Strategies from Successful and Failed Demonstrations
Masashi Hamaya,Felix von Drigalski,Takamitsu Matsubara,Kazutoshi Tanaka,Robert Lee,Chisato Nakashima,Yoshiya Shibata,Yoshihisa Ijiri,Masashi Hamaya,Felix von Drigalski,Takamitsu Matsubara,Kazutoshi Tanaka,Robert Lee,Chisato Nakashima,Yoshiya Shibata,Yoshihisa Ijiri
Physically soft robots are promising for robotic assembly tasks as they allow stable contacts with the environment. In this study, we propose a novel learning system for soft robotic assembly strategies. We formulate this problem as a reinforcement learning task and design the reward function from human demonstrations. Our key insight is that the failed demonstrations can be used as constraints to...
