SwRL trains separate RL policies for force magnitude and redundant subspace motion, after decomposing the task space into kinematic, geometric, and redundant subspaces, improving articulated object manipulation performance.
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Subspace-wise Hybrid RL for Articulated Object Manipulation
SwRL trains separate RL policies for force magnitude and redundant subspace motion, after decomposing the task space into kinematic, geometric, and redundant subspaces, improving articulated object manipulation performance.