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Thomas Lew Profile picture
Thomas Lew
@thomas__lew
PhD student @Stanford. Optimal Control, Machine Learning, Robotics. Previously intern at @Google, @NASAJPL
Jan 27, 2023 • 8 tweets • 6 min read
📢Excited to share our #ICRA2023 work on robotic table wiping via RL + optimal control!
📖 arxiv.org/abs/2210.10865
🎥
💡RL (for high-level planning) + trajectory optimization (for precise control) can solve complex tasks without on-robot data collection ⬇️ 🧽 How can a robot reliably wipe tables to clean spills and crumbs?

The problem is difficult: it requires both high-level planning from image observations and precise low-level control.

We propose an approach in three steps ⬇️ Image