Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly

arXiv:2404.17684v1 Announce Type: cross
Abstract: Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble Skill Transfer (TEST) framework, a pioneering offline reinforcement learning (RL) approach that incorporates tactile feedback in the control loop. TEST's core design is to learn a skill transition model for high-level planning, along with a set of adaptive intra-skill goal-reaching policies. Such design aims to solve the robotic furniture assembly …

abstract arxiv assembly control cs.lg cs.ro ensemble feedback framework furniture horizon loop manipulation offline operations paper reinforcement reinforcement learning robotic robotic manipulation skill test transfer type unsolved