Should We Learn Contact-Rich Manipulation Policies From Sampling-Based Planners?
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3564701
Abstract: The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation tasks that require complex coordination… read more here.
Keywords: rich manipulation; based planners; contact rich; sampling based ... See more keywords
Model based planners reflect on their model-free propensities
Sign Up to like & getrecommendations! Published in 2021 at "PLoS Computational Biology"
DOI: 10.1371/journal.pcbi.1008552
Abstract: Dual-reinforcement learning theory proposes behaviour is under the tutelage of a retrospective, value-caching, model-free (MF) system and a prospective-planning, model-based (MB), system. This architecture raises a question as to the degree to which, when devising… read more here.
Keywords: model based; planners reflect; reflect model; model ... See more keywords