2023
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly
IROS 2023poster
In sim-to-real Reinforcement Learning (RL), a policy is trained in a simulated environment and then deployed on the physical system. The main challenge of sim-to-real RL is to overcome the reality gap - the discrepancies between the real world and its simulated counterpart. Using generic geometric r…