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Dagher, Christopher; Silva, Chandika; Satici, Aykut C; Poonawala, Hasan A (, IFAC-PapersOnLine)Learning policies for contact-rich manipulation is a challenging problem due to the presence of multiple contact modes with different dynamics, which complicates state and action exploration. Contact-rich motion planning uses simplified dynamics to reduce the search space dimension, but the found plans are then difficult to execute under the true object-manipulator dynamics. This paper presents an algorithm for learning controllers based on guided policy search, where motion plans based on simplified dynamics define rewards and sampling distributions for policy gradient-based learning. We demonstrate that our guided policy search method improves the ability to learn manipulation controllers, through a task involving pushing a box over a step.more » « less
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Roy, Subhrajit; Kiral, Isabell; Mirmomeni, Mahtab; Mummert, Todd; Braz, Alan; Tsay, Jason; Tang, Jianbin; Asif, Umar; Schaffter, Thomas; Ahsen, Mehmet Eren; et al (, EBioMedicine)null (Ed.)
