Guy Freund

TWISTED-RL: Hierarchical Skilled Agents for Knot-Tying without Human Demonstrations

Robotic knot-tying represents a fundamental chal- lenge in robotics due to the complex interactions between de- formable objects and strict topological constraints. We present TWISTED-RL, a framework that improves upon the previous state-of-the-art in demonstration-free knot-tying (TWISTED), which s…