Curriculum Design and Sim2Real Transfer for Reinforcement Learning in Robotic Dual-Arm Assembly

Robotic systems are crucial in modern manufacturing. Complex assembly tasks require the collaboration of multiple robots. Their orchestration is challenging due to tight tolerances and precision requirements. In this work, we set up two Franka Panda robots performing a peg-in-hole insertion task of...

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Bibliographic Details

Published in:	Machines
Main Authors:	Konstantin Wrede, Sebastian Zarnack, Robert Lange, Oliver Donath, Tommy Wohlfahrt, Ute Feldmann
Format:	Article
Language:	English
Published:	MDPI AG 2024-09-01
Subjects:	reinforcement learning curriculum learning simulation-to-reality transfer dual-arm robots robotic assembly peg-in-hole assembly
Online Access:	https://www.mdpi.com/2075-1702/12/10/682