Robust Contact-Rich Task Learning With Reinforcement Learning and Curriculum-Based Domain Randomization

We propose a framework for contact-rich path following with reinforcement learning based on a mixture of visual and tactile feedback to achieve path following on unknown environments. We employ a curriculum-based domain randomisation approach with a time-varying sampling distribution, rendering our...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Ali Aflakian, Jamie Hathaway, Rustam Stolkin, Alireza Rastegarpanah
Format:	Article
Language:	English
Published:	IEEE 2024-01-01
Subjects:	Model predictive control contact-rich task reinforcement learning domain randomization
Online Access:	https://ieeexplore.ieee.org/document/10606428/