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Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks

Roberto Martín-Martín, Michelle A. Lee, Rachel Gardner, Silvio Savarese, Jeannette Bohg, Animesh Garg. Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019. pages 1010-1017, IEEE, 2019. [doi]

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