Sim2Real Transfer for Reinforcement Learning without Dynamics Randomization

In this work we show how to use the Operational Space Control framework (OSC) under joint and cartesian constraints for reinforcement learning in cartesian space. Our method is therefore able to learn fast and with adjustable degrees of freedom, while we are able to transfer policies without additio...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Kaspar, Manuel, Osorio, Juan David Munoz, Bock, Jürgen
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Artificial Intelligence Computer Science - Learning Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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