Kavli Affiliate: Xiang Zhang | First 5 Authors: Xiang Zhang, Masayoshi Tomizuka, Hui Li, , | Summary: Contact-rich manipulation tasks often exhibit a large sim-to-real gap. For instance, industrial assembly tasks frequently involve tight insertions where the clearance is less than 0.1 mm and can even be negative when dealing with a deformable receptacle. This […]
Continue.. Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion