Direct Policy Optimization with Differentiable Physical Consistency for Dexterous Manipulation.

Philipp Ruppel Norman Hendrich Jianwei Zhang

Published in: ROBIO (2021)

Keyphrases

manipulation tasks
optimization problems
optimization algorithm
optimization process
objective function
haptic feedback
optimal policy
real world
database systems
pairwise
vision system
global optimization
optimal control
constrained optimization
finite element analysis
object manipulation