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.
Stap: Sequencing task- agnostic policies,
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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.