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Contact-Rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control.

Joohwan SeoNikhil Potu Surya PrakashXiang ZhangChanghao WangJongeun ChoiMasayoshi TomizukaRoberto Horowitz
Published in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
  • learning algorithm
  • mobile robot
  • reinforcement learning
  • autonomous robots
  • manipulation tasks
  • learning tasks
  • learning process
  • degrees of freedom
  • motor control
  • impedance control