Online augmentation of learned grasp sequence policies for more adaptable and data-efficient in-hand manipulation
Ethan K. Gordon,Rana Soltani Zarrin,Ethan K. Gordon,Rana Soltani Zarrin
When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps that facilitates every step of the tool use process while continuously maintaining force closure and stability. Due to the complexity of modeling the contact dyna...
