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Towards advanced robotic manipulation

Robotics 2022-09-27 v2
Authors: Francisco Roldan Sanchez , Stephen Redmond , Kevin McGuinness , Noel O'Connor
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Abstract

Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay both in simulated and real environments, highlighting its weaknesses and proposing reinforcement-learning based alternatives based on reward and goal shaping. Additionally, several research questions are identified along with potential research directions that could be explored to tackle those questions.

Keywords

sim-to-real transfer robotics imitation learning

Cite

@article{arxiv.2209.08903,
  title  = {Towards advanced robotic manipulation},
  author = {Francisco Roldan Sanchez and Stephen Redmond and Kevin McGuinness and Noel O'Connor},
  journal= {arXiv preprint arXiv:2209.08903},
  year   = {2022}
}

Comments

4 pages, 1 figure, Submitted to PhD Workshop submission at IRC 2022. Updated figure 1

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R2 v1 2026-06-28T01:34:38.819Z