Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation.
Niklas FunkCharles B. SchaffRishabh MadanTakuma YonedaJulen Urain De JesusJoe WatsonEthan K. GordonFelix WidmaierStefan BauerSiddhartha S. SrinivasaTapomayukh BhattacharjeeMatthew R. WalterJan PetersPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- object manipulation
- real world
- optimal policy
- robot control
- robotic systems
- manipulation tasks
- management policies
- control policies
- markov decision process
- access control policies
- control policy
- optimization algorithm
- robot navigation
- markov decision processes
- markov decision problems
- dynamic programming
- global optimization
- partially observable markov decision processes
- state space
- reinforcement learning