OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
2022 International Conference on Robotics and Automation (ICRA)（2022）
Key words
robust robot manipulation,high-dimensional continuous actions,complex physics-based dynamics,action space,task-space controller,task-specific phases,OSC for adaptation and robustness,OSCAR,data-driven operational space control,performant robot manipulation policy learning,online trajectories,dynamics learning,task-agnostic phase,robust zero-shot performance
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