Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning.
Zhenjun YuWenqiang XuSiqiong YaoJieji RenTutian TangYutong LiGuoying GuCewu LuPublished in: CoRR (2023)
Keyphrases
- reinforcement learning
- perception action
- force feedback
- robotic arm
- robotic control
- radio frequency ablation
- real robot
- function approximation
- active exploration
- motor control
- mobile robot
- robotic systems
- real time
- markov decision processes
- reinforcement learning algorithms
- gaze control
- temporal difference
- selective perception
- model free
- state space
- machine learning
- robot control
- imitation learning
- needle insertion
- visual perception
- human perception
- degrees of freedom
- dynamic programming
- action selection
- visual feedback
- learning classifier systems
- robot assisted
- optimal control
- position control
- temperature field
- learning algorithm
- neural network
- motion planning
- optimal policy
- learning process
- multi agent