Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry

@article{Dong2021TactileRLFI,
  title={Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry},
  author={Siyuan Dong and Devesh K. Jha and Diego Romeres and Sangwoon Kim and Daniel Nikovski and Alberto Rodriguez},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  pages={6437-6443}
}
Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly limits the ability to understand the contact configuration between the object and the environment. We study the problem of aligning the object and environment with a tactile-based feedback insertion policy. The insertion process is modeled as an episodic policy that iterates between insertion attempts followed by pose… 

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