Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot.
Yunlei ShiZhaopeng ChenHongxu LiuSebastian RiedelChunhui GaoQian FengJun DengJianwei ZhangPublished in: ICRA (2021)
Keyphrases
- reinforcement learning
- sensory inputs
- real robot
- mobile robot
- contact force
- visual tasks
- autonomous robots
- transfer learning
- robotic systems
- computer controlled
- robot control
- action selection
- manipulation tasks
- action selection mechanism
- state space
- function approximation
- force feedback
- service robots
- feedback loop
- action space
- high level
- autonomous learning
- vision system
- visual information
- robot navigation
- human robot interaction
- machine learning
- internal representations
- learning algorithm
- reward shaping
- partially observable domains
- humanoid robot
- optimal policy
- force control
- visual servoing
- initial state
- markov decision processes
- agent receives
- multi robot