A visual-tactile RL method learns peg-in-hole assembly from reversed peg-out-of-hole disassembly trajectories, reaching 87.5% success on seen objects and 77.1% on unseen objects while lowering contact forces.
Peg-in-hole assembly with dual-arm robot and dexterous robot hands,
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Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly
A visual-tactile RL method learns peg-in-hole assembly from reversed peg-out-of-hole disassembly trajectories, reaching 87.5% success on seen objects and 77.1% on unseen objects while lowering contact forces.