Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Learning Variable Impedance Control for Contact Sensitive Tasks   Reinforcement learning algorithms have shown great success in solving
different problems ranging from playing video games to robotics. However, they
struggle to solve delicate robotic problems, especially those involving contact
interactions. Though in principle a policy directly outputting joint torques
should be able to learn to perform these tasks, in practice we see that it has
difficulty to robustly solve the problem without any given structure in the
action space. In this paper, we investigate how the choice of action space can
give robust performance in presence of contact uncertainties. We propose
learning a policy giving as output impedance and desired position in joint
space and compare the performance of that approach to torque and position
control under different contact uncertainties. Furthermore, we propose an
additional reward term designed to regularize these variable impedance control
policies, giving them interpretability and facilitating their transfer to real
systems. We present extensive experiments in simulation of both floating and
fixed-base systems in tasks involving contact uncertainties, as well as results
for running the learned policies on a real system.

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The categories of this paper are: nucl-th
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The categories of this paper are: chao-dyn
36
The categories of this paper are: cmp-lg
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The categories of this paper are: q-bio
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The categories of this paper are: astro-ph
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The categories of this paper are: hep-ex
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The categories of this paper are: atom-ph
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The categories of this paper are: q-alg
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The categories of this paper are: funct-an
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The categories of this paper are: plasm-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: eess
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The categories of this paper are: acc-phys
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The categories of this paper are: comp-gas
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The categories of this paper are: mtrl-th
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The categories of this paper are: cond-mat