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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"

50 / 78 papers shown

Title
Learning the Contact Manifold for Accurate Pose Estimation During Peg-in-Hole Insertion of Complex Geometries Abhay Negi Omey M. Manyar Dhanush Kumar Varma Penmetsa Satyandra K. Gupta 50 0 0 25 May 2025
Master Rules from Chaos: Learning to Reason, Plan, and Interact from Chaos for Tangram Assembly Chao Zhao Chunli Jiang Lifan Luo Guanlan Zhang Hongyu Yu Michael Yu Wang Qifeng Chen LRM 44 0 0 17 May 2025
Accelerating Visual Reinforcement Learning with Separate Primitive Policy for Peg-in-Hole Tasks Zichun Xu Zhaomin Wang Yuntao Li Lei Zhuang Zhiyuan Zhao Guocai Yang Jingdong Zhao 57 0 0 21 Apr 2025
Two by Two: Learning Multi-Task Pairwise Objects Assembly for Generalizable Robot Manipulation Yu Qi Yuanchen Ju Tianming Wei Chi Chu Lawson L. S. Wong Huazhe Xu 84 5 0 09 Apr 2025
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 145 16 0 20 Feb 2025
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks Vincenzo Petrone Enrico Ferrentino Pasquale Chiacchio 101 1 0 10 Jan 2025
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning Charles Xu Qiyang Li Jianlan Luo Sergey Levine OffRL 144 7 0 13 Dec 2024
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 144 12 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 107 11 0 08 Aug 2024
The Shortcomings of Force-from-Motion in Robot Learning Elie Aljalbout Felix Frank Patrick van der Smagt A. Paraschos 64 1 0 03 Jul 2024
Visuo-Tactile Keypoint Correspondences for Object Manipulation Jeong-Jung Kim Dooyeol Koh Chang-Hyun Kim 42 0 0 23 May 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 106 27 0 16 May 2024
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks Kaylee Burns Ajinkya Jain Keegan Go Fei Xia Michael Stark S. Schaal Karol Hausman 83 6 0 09 Apr 2024
Digital Twin-Driven Reinforcement Learning for Obstacle Avoidance in Robot Manipulators: A Self-Improving Online Training Framework Yuzhu Sun Mien Van Stephen McIlvanna Minh-Nhat Nguyen K. Olayemi Jack Close Seán F. McLoone 35 2 0 19 Mar 2024
Generative 3D Part Assembly via Part-Whole-Hierarchy Message Passing Bián Du Xiang Gao Wei Hu Renjie Liao 112 6 0 27 Feb 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 172 49 0 29 Jan 2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning Jianlan Luo Charles Xu Fangchen Liu Liam Tan Zipeng Lin Jeffrey Wu Pieter Abbeel Sergey Levine 85 29 0 16 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 82 21 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 79 4 0 05 Dec 2023
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion Xiang Zhang Masayoshi Tomizuka Hui Li 108 14 0 13 Nov 2023
Towards Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot Luca Lach R. Haschke Davide Tateo Jan Peters Helge J. Ritter Júlia Borràs Sol Carme Torras 80 0 0 13 Nov 2023
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning Xiang Zhang Changhao Wang Lingfeng Sun Zheng Wu Xinghao Zhu Masayoshi Tomizuka OffRL 79 25 0 16 Oct 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 171 58 0 18 Jul 2023
A Versatile Door Opening System with Mobile Manipulator through Adaptive Position-Force Control and Reinforcement Learning Gyuree Kang Hyunki Seong Daegyu Lee David Hyunchul Shim 40 6 0 10 Jul 2023
Stability analysis of admittance control using asymmetric stiffness matrix T. Tsuji Y. Kato 55 1 0 21 Jun 2023
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly N. Vuong Quang Pham 54 0 0 11 Jun 2023
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly N. Vuong Quang Pham 50 2 0 11 Jun 2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality Bingjie Tang Michael A. Lin Iretiayo Akinola Ankur Handa Gaurav Sukhatme Fabio Ramos Dieter Fox Yashraj S. Narang OffRL 86 55 0 26 May 2023
Flexible Gear Assembly With Visual Servoing and Force Feedback J. Ming Daniel Andreas Bargmann H. Cao Marco Caccamo 81 3 0 06 Mar 2023
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories Pengzhi Yang Shumon Koga Arash Asgharivaskasi Nikolay Atanasov 83 3 0 03 Dec 2022
Geometric Impedance Control on SE(3) for Robotic Manipulators Joohwan Seo N. Prakash Alexander Rose Jongeun Choi R. Horowitz 92 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 85 1 0 04 Nov 2022
Design of non-diagonal stiffness matrix for assembly task Tsukasa Kusakabe S. Sakaino T. Tsuji 85 2 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 132 16 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 80 26 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 58 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 61 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 49 0 0 12 Aug 2022
A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation Xiangpei Zhu Shucheng Kang Jianyu Chen 50 6 0 27 Jul 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 48 3 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 120 82 0 07 May 2022
Learning Design and Construction with Varying-Sized Materials via Prioritized Memory Resets Yunfei Li Tao Kong Lei Li Yi Wu 93 4 0 12 Apr 2022
A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion Rui Chen Chenxi Wang Tianhao Wei Changliu Liu 120 2 0 06 Mar 2022
Multi-Modal Fusion in Contact-Rich Precise Tasks via Hierarchical Policy Learning Piaopiao Jin Yi-Bin Lin Yanchao Tan Tiefeng Li Wei Yang 40 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 90 18 0 19 Dec 2021
A Survey of Robot Manipulation in Contact Markku Suomalainen Y. Karayiannidis Ville Kyrki 112 119 0 03 Dec 2021
Offline Meta-Reinforcement Learning for Industrial Insertion Tony Zhao Jianlan Luo Oleg O. Sushkov Rugile Pevceviciute N. Heess Jonathan Scholz S. Schaal Sergey Levine OffRL OnRL 97 83 0 08 Oct 2021
OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation J. Wong Viktor Makoviychuk Anima Anandkumar Yuke Zhu 82 13 0 02 Oct 2021
Learning to Design and Construct Bridge without Blueprint Yunfei Li Tao Kong Lei Li Yifeng Li Yi Wu 111 8 0 05 Aug 2021
Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion Boshen Niu Chenxi Wang Changliu Liu 109 5 0 04 Aug 2021