Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks

20 June 2019

Roberto Martín-Martín

Silvio Savarese

Papers citing "Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks"

47 / 47 papers shown

Title
Modular Robot Control with Motor Primitives Moses C. Nah Johannes Lachner Neville Hogan 19 0 0 15 May 2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots Botian Xu Haoyang Weng Qingzhou Lu Yang Gao Huazhe Xu 29 0 0 11 May 2025
Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations Chikaha Tsuji Enrique Coronado Pablo Osorio G. Venture 29 0 0 09 May 2025
DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning Shuqi Zhao Ke Yang Yuxin Chen Chenran Li Yichen Xie Xiang Zhang Changhao Wang Masayoshi Tomizuka 41 0 0 02 May 2025
Robotic Table Tennis: A Case Study into a High Speed Learning System David B. DÁmbrosio Jonathan Abelian Saminda Abeyruwan Michael Ahn Alex Bewley ... Vikas Sindhwani Avi Singh Vincent Vanhoucke Grace Vesom Peng-Tao Xu 60 13 0 20 Feb 2025
Dynamic Cloth Manipulation Considering Variable Stiffness and Material Change Using Deep Predictive Model with Parametric Bias Kento Kawaharazuka Akihiro Miki Masahiro Bando Kei Okada Masayuki Inaba AI4CE 37 10 0 24 Sep 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 54 7 0 22 Sep 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 54 8 0 08 Aug 2024
GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization Austin Patel Shuran Song LM&Ro 40 3 0 20 Jul 2024
Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions Kento Kawaharazuka Naoaki Kanazawa K. Okada Masayuki Inaba 29 4 0 17 Mar 2024
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting Bio-Inspired Actuator Morphology Pierre Schumacher Lorenz Krause Jan Schneider-Barnes Le Chen Georg Martius Daniel Haeufle 20 0 0 08 Feb 2024
Integrating DeepRL with Robust Low-Level Control in Robotic Manipulators for Non-Repetitive Reaching Tasks Mehdi Heydari Shahna Seyed Adel Alizadeh Kolagar J. Mattila 24 4 0 04 Feb 2024
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 16 20 0 06 Dec 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 27 17 0 06 Sep 2023
Structured World Models from Human Videos Russell Mendonca Shikhar Bahl Deepak Pathak LM&Ro 47 86 0 21 Aug 2023
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills Jiayuan Gu Fanbo Xiang Xuanlin Li Z. Ling Xiqiang Liu ... Xiao Yuan P. Xie Zhiao Huang Rui Chen Hao Su 34 175 0 09 Feb 2023
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments Mayank Mittal C. Yu Qinxi Yu Jingzhou Liu Nikita Rudin ... Ajay Mandlekar Buck Babich Gavriel State Marco Hutter Animesh Garg 47 170 0 10 Jan 2023
CLAS: Coordinating Multi-Robot Manipulation with Central Latent Action Spaces Elie Aljalbout Maximilian Karl Patrick van der Smagt 26 5 0 28 Nov 2022
Geometric Impedance Control on SE(3) for Robotic Manipulators Joohwan Seo N. Prakash Alexander Rose Jongeun Choi R. Horowitz 33 13 0 15 Nov 2022
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity Wen-Min Zhou David Held OffRL 13 59 0 02 Nov 2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization T. Lew Sumeet Singh M. Prats Jeffrey Bingham Jonathan Weisz ... Fei Xia Peng-Tao Xu Tingnan Zhang Jie Tan Montserrat Gonzalez 32 15 0 19 Oct 2022
Generating Upper-Body Motion for Real-Time Characters Making their Way through Dynamic Environments Eduardo Alvarado D. Rohmer Marie-Paule Cani AI4CE 21 8 0 21 Sep 2022
Deep Model Predictive Variable Impedance Control Akhil S. Anand Fares J. Abu-Dakka J. Gravdahl 15 10 0 20 Sep 2022
Learning Skill-based Industrial Robot Tasks with User Priors Matthias Mayr Carl Hvarfner Konstantinos Chatzilygeroudis Luigi Nardi Volker Krueger 30 21 0 02 Aug 2022
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing Weixuan Zhang Lionel Ott M. Tognon Roland Siegwart 32 21 0 28 Jun 2022
Factory: Fast Contact for Robotic Assembly Yashraj S. Narang Kier Storey Iretiayo Akinola Miles Macklin Philipp Reist ... Ádám Moravánszky Gavriel State Michelle Lu Ankur Handa Dieter Fox 32 74 0 07 May 2022
Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration Matthias Mayr Faseeh Ahmad Konstantinos Chatzilygeroudis Luigi Nardi Volker Krueger 35 28 0 18 Mar 2022
Residual Robot Learning for Object-Centric Probabilistic Movement Primitives João Carvalho Dorothea Koert Marek Daniv Jan Peters 29 8 0 08 Mar 2022
A Survey of Robot Manipulation in Contact Markku Suomalainen Y. Karayiannidis Ville Kyrki 31 109 0 03 Dec 2021
Safe Online Gain Optimization for Variable Impedance Control Changhao Wang Zhian Kuang Xiang Zhang Masayoshi Tomizuka 14 1 0 01 Nov 2021
Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives Murtaza Dalal Deepak Pathak Ruslan Salakhutdinov 38 90 0 28 Oct 2021
Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space Maximilian Ulmer Elie Aljalbout Sascha Schwarz Sami Haddadin 13 6 0 19 Oct 2021
RMPs for Safe Impedance Control in Contact-Rich Manipulation S. Shaw Ben Abbatematteo George Konidaris 26 13 0 24 Sep 2021
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments S. Srivastava Chengshu Li Michael Lingelbach Roberto Martín-Martín Fei Xia ... Chenxi Liu Silvio Savarese H. Gweon Jiajun Wu Li Fei-Fei LM&Ro 151 157 0 06 Aug 2021
Hierarchical Neural Dynamic Policies Shikhar Bahl Abhinav Gupta Deepak Pathak BDL 25 27 0 12 Jul 2021
InsertionNet -- A Scalable Solution for Insertion Oren Spector Dotan Di Castro 26 51 0 29 Apr 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 24 66 0 20 Apr 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 34 44 0 11 Mar 2021
kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation Wei Gao Russ Tedrake 27 71 0 11 Feb 2021
Neural Dynamic Policies for End-to-End Sensorimotor Learning Shikhar Bahl Mustafa Mukadam Abhinav Gupta Deepak Pathak 18 83 0 04 Dec 2020
Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors Michelle A. Lee Matthew Tan Yuke Zhu Jeannette Bohg 46 25 0 01 Dec 2020
Learning Dense Rewards for Contact-Rich Manipulation Tasks Zheng Wu Wenzhao Lian Vaibhav Unhelkar Masayoshi Tomizuka S. Schaal 8 37 0 17 Nov 2020
Robust Quadruped Jumping via Deep Reinforcement Learning Guillaume Bellegarda Chuong H. Nguyen Quan Nguyen 24 63 0 13 Nov 2020
Joint Space Control via Deep Reinforcement Learning Visak C. V. Kumar David Hoeller Balakumar Sundaralingam Jonathan Tremblay Stan Birchfield DRL 25 15 0 12 Nov 2020
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning Yuke Zhu J. Wong Ajay Mandlekar Roberto Martín-Martín Abhishek Joshi Soroush Nasiriany Yifeng Zhu Soroush Nasiriany Yifeng Zhu 37 430 0 25 Sep 2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan D. Ratliff Animesh Garg Fabio Ramos Dieter Fox 15 60 0 21 May 2020
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks Michelle A. Lee Yuke Zhu Peter Zachares Matthew Tan K. Srinivasan Silvio Savarese Fei-Fei Li Animesh Garg Jeannette Bohg SSL 23 207 0 28 Jul 2019