Seq2Seq Imitation Learning for Tactile Feedback-based Manipulation
Wenyan Yang,Alexandre Angleraud,Roel S. Pieters,Joni Pajarinen,Joni-Kristian Kämäräinen,Wenyan Yang,Alexandre Angleraud,Roel S. Pieters,Joni Pajarinen,Joni-Kristian Kämäräinen
Robot control for tactile feedback based manip-ulation can be difficult due to modeling of physical contacts, partial observability of the environment, and noise in perception and control. This work focuses on solving partial observability of contact-rich manipulation tasks as a Sequence-to-Sequence (Seq2Seq) Imitation Learning (IL) problem. The proposed Seq2Seq model first produces a robot-enviro...
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