Tuluhan Akbulut

Composable Interaction Primitives: A Structured Policy Class for Efficiently Learning Sustained-Contact Manipulation Skills

We propose a new policy class, Composable Interaction Primitives (CIPs), specialized for learning sustained-contact manipulation skills like opening a drawer, pulling a lever, turning a wheel, or shifting gears. CIPs have two primary design goals: to minimize what must be learned by exploiting struc…