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This chapter presents Hierarchical Compliance-based Contextual Policy Search (HC-CPS) for solving PiH and other contact-rich manipulation tasks with multiple objectives. The implementation of HC-CPS utilizes two lower-level impedance-conditioned RL policies. We validate the effectiveness of our proposed HC-CPS through simulations and real-world experiments involving three contact-rich manipulation tasks and dual PiH assembly with two different contexts.

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LFE: Hierarchical Compliance Control for PiH Assembly

  • 章节

  • 发表日期：

    2025年

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  • Jing Xu,
  • Hao Su,
  • Rui Chen,
  • Zhimin Hou

摘要

This chapter presents Hierarchical Compliance-based Contextual Policy Search (HC-CPS) for solving PiH and other contact-rich manipulation tasks with multiple objectives. The implementation of HC-CPS utilizes two lower-level impedance-conditioned RL policies. We validate the effectiveness of our proposed HC-CPS through simulations and real-world experiments involving three contact-rich manipulation tasks and dual PiH assembly with two different contexts.