Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly

4 March 2019

Pieter Abbeel

Papers citing "Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly"

34 / 34 papers shown

Title
Robotic Table Tennis: A Case Study into a High Speed Learning System David B. DÁmbrosio Jonathan Abelian Saminda Abeyruwan Michael Ahn Alex Bewley ... Vikas Sindhwani Avi Singh Vincent Vanhoucke Grace Vesom Peng Xu 60 13 0 20 Feb 2025
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks Vincenzo Petrone Enrico Ferrentino Pasquale Chiacchio 39 0 0 10 Jan 2025
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation Yansong Wu Zongxie Chen Fan Wu L. Chen Liding Zhang Zhenshan Bing Abdalla Swikir Sami Haddadin Sami Haddadin 69 10 0 17 Sep 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 59 8 0 08 Aug 2024
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning Jianlan Luo Zheyuan Hu Charles Xu You Liang Tan Jacob Berg Archit Sharma S. Schaal Chelsea Finn Abhishek Gupta Sergey Levine OffRL OnRL 34 41 0 29 Jan 2024
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 22 20 0 06 Dec 2023
PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via Sim-to-real Adaptation Geonhyup Lee Joosoon Lee Sangjun Noh Minhwan Ko Kangmin Kim Kyoobin Lee 25 2 0 05 Dec 2023
Multi-Stage Cable Routing through Hierarchical Imitation Learning Jianlan Luo Charles Xu Xinyang Geng Gilbert Feng Kuan Fang L. Tan S. Schaal Sergey Levine 38 52 0 18 Jul 2023
Stability analysis of admittance control using asymmetric stiffness matrix T. Tsuji Y. Kato 16 0 0 21 Jun 2023
Flexible Gear Assembly With Visual Servoing and Force Feedback J. Ming Daniel Andreas Bargmann H. Cao Marco Caccamo 18 1 0 06 Mar 2023
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories Pengzhi Yang Shumon Koga Arash Asgharivaskasi Nikolay Atanasov 28 3 0 03 Dec 2022
Geometric Impedance Control on SE(3) for Robotic Manipulators Joohwan Seo N. Prakash Alexander Rose Jongeun Choi R. Horowitz 38 13 0 15 Nov 2022
Robotic Assembly Control Reconfiguration Based on Transfer Reinforcement Learning for Objects with Different Geometric Features Yuhang Gai Bin Wang Jiwen Zhang Dan Wu Ken Chen 28 0 0 04 Nov 2022
Design of non-diagonal stiffness matrix for assembly task Tsukasa Kusakabe S. Sakaino T. Tsuji 27 1 0 29 Oct 2022
Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for Industrial Insertion of Novel Connectors from Vision Ashvin Nair Brian Zhu Gokul Narayanan Eugen Solowjow Sergey Levine OffRL OnRL 28 15 0 27 Oct 2022
SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering Jun Lv Yunhai Feng Cheng Zhang Shu Zhao Lin Shao Cewu Lu 18 24 0 27 Oct 2022
Local Connection Reinforcement Learning Method for Efficient Control of Robotic Peg-in-Hole Assembly Yuhang Gai Jiwen Zhang Dan Wu Ken Chen OffRL 32 1 0 24 Oct 2022
Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration Mariano Ramírez Montero Giovanni Franzese Jeroen Zwanepol Jens Kober 19 2 0 23 Sep 2022
Maximizing the Use of Environmental Constraints: A Pushing-Based Hybrid Position/Force Assembly Skill for Contact-Rich Tasks Yunlei Shi Zhaopeng Chen Lin Cong Yansong Wu Martin Craiu-Müller C. Yuan Chunyang Chang Lei Zhang Jianwei Zhang 14 0 0 12 Aug 2022
Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration Tan Chen Zhe Huang James Motes Junyi Geng Q. Ta ... Sizhe Liu M. Morales Nancy M. Amato Katherine Driggs-Campbell Timothy Bretl 21 2 0 28 May 2022
Factory: Fast Contact for Robotic Assembly Yashraj S. Narang Kier Storey Iretiayo Akinola Miles Macklin Philipp Reist ... Ádám Moravánszky Gavriel State Michelle Lu Ankur Handa Dieter Fox 32 75 0 07 May 2022
Learning Design and Construction with Varying-Sized Materials via Prioritized Memory Resets Yunfei Li Tao Kong Lei Li Yi Wu 45 4 0 12 Apr 2022
Multi-Modal Fusion in Contact-Rich Precise Tasks via Hierarchical Policy Learning Piaopiao Jin Yi-Bin Lin Yanchao Tan Tiefeng Li Wei Yang 16 1 0 17 Feb 2022
RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment Mingxin Yu Lin Shao Zhehuan Chen Tianhao Wu Qingnan Fan Kaichun Mo Hao Dong 34 17 0 19 Dec 2021
A Survey of Robot Manipulation in Contact Markku Suomalainen Y. Karayiannidis Ville Kyrki 34 109 0 03 Dec 2021
Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion Boshen Niu Chenxi Wang Changliu Liu 26 4 0 04 Aug 2021
RGL-NET: A Recurrent Graph Learning framework for Progressive Part Assembly A. N. Harish R. Nagar Shanmuganathan Raman 33 35 0 27 Jul 2021
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study Jianlan Luo Oleg O. Sushkov Rugile Pevceviciute Wenzhao Lian Chang Su Mel Vecerík Ning Ye S. Schaal Jonathan Scholz OffRL 27 60 0 21 Mar 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 34 44 0 11 Mar 2021
Combining Learning from Demonstration with Learning by Exploration to Facilitate Contact-Rich Tasks Yunlei Shi Zhaopeng Chen Yansong Wu Dimitri Henkel Sebastian Riedel Hongxu Liu Qian Feng Jianwei Zhang 16 12 0 10 Mar 2021
Towards Learning Controllable Representations of Physical Systems Kevin Haninger R. Vicente-Garcia J. Krüger 31 1 0 16 Nov 2020
Robust Quadruped Jumping via Deep Reinforcement Learning Guillaume Bellegarda Chuong H. Nguyen Quan Nguyen 27 63 0 13 Nov 2020
Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps Jialiang Zhao Daniel M. Troniak Oliver Kroemer 24 14 0 04 Nov 2020
Learning Robot Trajectories subject to Kinematic Joint Constraints Jonas C. Kiemel Torsten Kröger 22 7 0 01 Nov 2020