Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist.
Hai NguyenTadashi KozunoCristian C. Beltran-HernandezMasashi HamayaPublished in: ICRA (2024)
Keyphrases
- partial observability
- reinforcement learning
- partially observable
- symbolic model checking
- planning problems
- robotic systems
- markov decision process
- fully observable
- belief state
- partially observable markov decision processes
- planning under partial observability
- mobile robot
- machine learning
- partial information
- learning agent
- markov decision processes
- state space
- belief space
- learning algorithm
- reinforcement learning algorithms
- temporal difference
- action selection
- model free
- function approximation
- orders of magnitude
- optimal policy
- supply chain
- dynamic programming
- bayesian networks