SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks.
Heng ZhangGökhan SolakGustavo J. G. LahrArash AjoudaniPublished in: CoRR (2024)
Keyphrases
- robotic tasks
- reinforcement learning
- motion planning
- planning under uncertainty
- markov decision processes
- function approximation
- dynamic environments
- robotic systems
- mobile robot
- partially observable markov decision processes
- machine learning
- multi agent
- model free
- learning algorithm
- contact force
- optimal policy
- real time
- learning process
- optimal control
- humanoid robot