Residual Feedback Learning for Contact-Rich Manipulation Tasks with Uncertainty

no code implementations • 8 Jun 2021 • Alireza Ranjbar, Ngo Anh Vien, Hanna Ziesche, Joschka Boedecker, Gerhard Neumann

We propose a new formulation that addresses these limitations by also modifying the feedback signals to the controller with an RL policy and show superior performance of our approach on a contact-rich peg-insertion task under position and orientation uncertainty.

Position Reinforcement Learning (RL)