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.
Learning behavior trees from demonstration,
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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.