arXiv cs.RO·· 6 days agoAI score60
Study: How inertia mismatch affects robot policy learning when robots are heavier than objects
Summary
This paper investigates how inertia mismatch between a robotic arm and the objects it manipulates affects robot policy learning. Through controlled simulation experiments that vary robot and object masses, it finds that reinforcement learning succeeds across a broad range of mass combinations, while behavior cloning learns more reliable policies when a lighter robot manipulates a heavier object.
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Source: arXiv cs.RO · arxiv.org
MIT CSAILGrasping and manipulationRobot models and learningData and simulationResearch papers#Research#Robot models and learning#Data and simulation#Grasping and manipulation
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