OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
Josiah Wong,Viktor Makoviychuk,Anima Anandkumar,Yuke Zhu,Josiah Wong,Viktor Makoviychuk,Anima Anandkumar,Yuke Zhu
Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control (OSC) has been used as an effective task-space controller for manipulation. Nonetheless, its strength depends on the underlying modeling fidelity, and is prone t...
