Learning Hierarchical Control for Robust In-Hand Manipulation

24 Oct 2019Tingguang LiKrishnan SrinivasanMax Qing-Hu MengWenzhen YuanJeannette Bohg

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of prior work has either focused on model-based, low-level controllers or on model-free deep reinforcement learning that each have their own limitations... (read more)

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