MIN-Fakultät
Fachbereich Informatik
TAMS

Learning compliant manipulation based on demonstration and exploration

Bachelor/Master Thesis at group TAMS

Motivation

Robots are increasingly expected to be able to deal with physical interaction tasks dexterously and flexibly. To this end, we need to develop advanced learning and control approaches to endow the robot the ability of compliant manipulation. This master thesis will focus on learning compliant manipulation based on demonstration and exploration. For example, one may consider to obtain the initial compliant manipulation policies through human demonstration. Then, exploration techniques such as reinforcement learning could be used to optimize the policies in a simulation environment. Finally, the learned manipulation policies are transferred to a real-world robot arm or hand.

Goals

Requirements

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