Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly.
Jianlan LuoEugen SolowjowChengtao WenJuan Aparicio OjeaAlice M. AgoginoAviv TamarPieter AbbeelPublished in: ICRA (2019)
Keyphrases
- high precision
- reinforcement learning
- position control
- high recall
- optimal control
- robotic manipulator
- robotic tasks
- real time
- control loop
- control strategies
- closed loop
- control scheme
- control system
- actor critic
- function approximation
- model free
- state space
- mobile robot
- high reliability
- adaptive control
- optimal policy
- real robot
- control strategy
- contact force
- control policy
- robot control
- robotic systems
- control architecture
- multi agent
- controller design
- learning algorithm
- feedback control
- neural network
- reinforcement learning algorithms
- dynamic programming
- control algorithm
- mathematical model
- pid controller
- control method
- learning process
- manipulation tasks
- degrees of freedom
- dc motor
- high accuracy
- force control
- dynamic environments