IMP-HRL augments the MAPLE hierarchical RL framework with impedance primitives and an adaptive stiffness controller, improving compliance and success rates on sequential contact tasks, especially wiping.
Accelerating robotic reinforcement learning via parameterized action primitives,
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Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks
IMP-HRL augments the MAPLE hierarchical RL framework with impedance primitives and an adaptive stiffness controller, improving compliance and success rates on sequential contact tasks, especially wiping.