Francisco Roldan Sanchez, Stephen Redmond, Kevin McGuinness, Noel E. O'Connor
{"title":"Towards advanced robotic manipulation","authors":"Francisco Roldan Sanchez, Stephen Redmond, Kevin McGuinness, Noel E. O'Connor","doi":"10.1109/IRC55401.2022.00058","DOIUrl":null,"url":null,"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.","PeriodicalId":282759,"journal":{"name":"2022 Sixth IEEE International Conference on Robotic Computing (IRC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 Sixth IEEE International Conference on Robotic Computing (IRC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IRC55401.2022.00058","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
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.
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