Corpus ID: 221640622

Solving Challenging Dexterous Manipulation Tasks With Trajectory Optimisation and Reinforcement Learning

  title={Solving Challenging Dexterous Manipulation Tasks With Trajectory Optimisation and Reinforcement Learning},
  author={Henry Charlesworth and G. Montana},
Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we first introduce a suite of challenging simulated manipulation tasks that current reinforcement learning and trajectory optimisation techniques find difficult. These include environments where two simulated hands have to pass or throw objects between each… Expand
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